التفاصيل البيبلوغرافية
| العنوان: |
A robotic puncture system with optical and mechanical feedback under respiratory motion |
| المؤلفون: |
Zhang, Wenlong, Bao, Kaiyang, Zheng, Lingxiang, Cai, Lijing, Yan, Biao, Yang, Rongqian |
| المساهمون: |
Natural Science Foundation of Guangdong Province, National Natural Science Foundation of China |
| المصدر: |
The International Journal of Medical Robotics and Computer Assisted Surgery ; volume 18, issue 4 ; ISSN 1478-5951 1478-596X |
| بيانات النشر: |
Wiley |
| سنة النشر: |
2022 |
| المجموعة: |
Wiley Online Library (Open Access Articles via Crossref) |
| الوصف: |
Puncture robot can improve the accuracy and efficiency of puncture surgery, such as thoracoabdominal and liver puncture. However, as soft tissue is deformed and shifted under respiratory motion and during the puncture process, the needle is pulled, resulting in the needle's bending and deformation, which increases the risks and sufferings of the patient, a robotic puncture system with optical and mechanical feedback is necessary. Therefore, this paper proposes a multi‐information sensing ‘guide‐clamp’ end effector for puncture surgery to accurately detect the posture and force on the puncture needle in real time. And gravity bias method with trajectory planning and the compensational controlling model are also proposed to offset the interference of self‐weight and achieve zero force following. This system is evaluated by the experiments of robot controlling and human tissue simulation and the results prove the excellent robustness of the system, which meet the clinical requirement. |
| نوع الوثيقة: |
article in journal/newspaper |
| اللغة: |
English |
| DOI: |
10.1002/rcs.2403 |
| الإتاحة: |
https://doi.org/10.1002/rcs.2403Test |
| حقوق: |
http://onlinelibrary.wiley.com/termsAndConditions#vorTest |
| رقم الانضمام: |
edsbas.F0112827 |
| قاعدة البيانات: |
BASE |
