A Dual-Armed Robotic Puncture System: Design, Implementation and Preliminary Tests

Abstract

Traditional renal puncture surgery requires manual operation, which has a poor puncture effect, low surgical success rate, and high incidence of postoperative complications. Robot-assisted puncture surgery can effectively improve the accuracy of punctures, improve the success rate of surgery, and reduce the occurrence of postoperative complications. This paper provides a dual-armed robotic puncture scheme to assist surgeons. The system is divided into an ultrasound scanning arm and a puncture arm. Both robotic arms with a compliant positioning function and master–slave control function are designed, respectively, and the control system is achieved. The puncture arm’s position and posture are decoupled by the wrist RCM mechanism and the arm decoupling mechanism. According to the independent joint control principle, the compliant positioning function is realized based on the single-joint human–computer interactive admittance control. The simulation and tests verify its functions and performance. The differential motion incremental master–slave mapping strategy is used to realize the master–slave control function. The error feedback link is introduced to solve the cumulative error problem in the master–slave control. The dual-armed robotic puncture system prototype is established and animal tests verify the effectiveness.

Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot

“…The puncture actuator controlling channel is in charge of automatically inserting a needle and compensating for the motion of the internal organs. Gao et al [ 108 ] used a master–slave control strategy based on the differential motion increment of the Jacobi inverse matrix with error compensation in the use of ultrasound-guided dual-arm robotic puncture, and this master–slave control algorithm reduces the computation time required for puncture, meets the demand for image guidance, and improves the success rate of the puncture procedure. Li et al [ 109 ] proposed an improved linear rotation automatic calibration algorithm to reduce errors caused by manual calibration and system noise, aiming at the problem that the calibration accuracy of surgical gaps affects the accuracy of surgical system.…”

Integrated Robotic Arm Control: Inverse Kinematics, Trajectory Planning, and Performance Evaluation for Automated Welding

“…Research by [8] with the title Design of 5 Degrees of Freedom Robot Arm with Kinematics Approach. Research by [9] with the title Design and development of a robotic arm. Then Research by [10] with the title Design and Construction of a Robotic Arm For Industrial Automation.…”

Editorial for the Special Issue on Physical Diagnosis and Rehabilitation Technologies

“…Shi et al [4] developed a control strategy based on torque estimation and made it responsible for the intention understanding and motion servo of this customized system. Gao et al [5] provided a dual-armed robotic puncture scheme to assist surgeons. The system was divided into an ultrasound scanning arm and a puncture arm.…”