A Novel Respiratory Follow-Up Robotic System for Thoracic-Abdominal Puncture

Wang

et al. 2021

Self Cite

Background Robotic puncture system increasingly demands stringent standard in target location accuracy. The positional and orientational transformation relationships among all components of the system are supposed to be calibrated and identified preoperatively. Aims The target location performance is directly determined by the calibration result. Therefore, a multiple closed‐loops calibration approach is proposed to achieve high‐level calibration accuracy in robotic puncture system. Materials & Methods This method takes as input the three‐dimensional position information of the retro‐reflective markers mounted on the surgical tool, which is detected by the optical tracking system in real time during robotic movement. There is less complicated mathematical derivation and calculation in the presented algorithm by applying the closed‐loop principle. Results Experimental results validate that it can achieve accurate robotic target location with less input data and computation‐cost, satisfying the clinical puncture requirements. Discussion The spatial calibration between robotic arm and optical tracking system efficiently realised by the presented approach present an alternative which can be safely applied to the robotic puncture system for accurate insertion. Conclusion Overall, a multiple closed‐loops calibration approach is proposed in this work, which may increase surgical efficiency.

Section: Resultsmentioning

confidence: 94%

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Target Location For Puncture Based On the MCLmentioning

confidence: 99%

See 3 more Smart Citations

A multiple closed‐loops robotic calibration for accurate surgical puncture

Wang

et al. 2021

Self Cite

Automatic registration and precise tumour localization method for robot‐assisted puncture procedure under inconsistent breath‐holding conditions

Lei

Tang

et al. 2021

Background: During percutaneous puncture procedure, breath holding is subjectively controlled by patients, and it is difficult to ensure consistent tumour position between the preoperative CT scanning phase and the intraoperative puncture phase. In addition, the manual registration process is time-consuming and has low accuracy. Methods:We have proposed an automatic registration method using optical markers and a tumour breath-holding position estimation model based on the support vector regression algorithm. A robot system and a tumour respiratory motion simulation platform are built to perform puncture tests under different breath-holding states. Results:The experimental results show that automatic registration has higher accuracy than manual registration, and with the tumour breath-holding position estimation model, the targeting accuracy of puncture under inconsistent breathholding conditions is greatly improved. Conclusions:The proposed automatic registration and tumour breath-holding position estimation model can improve the accuracy and efficiency of puncture under inconsistent breath-holding conditions.

A robotic puncture system with optical and mechanical feedback under respiratory motion

Bao

et al. 2022

Self Cite

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.