Development and placement accuracy evaluation of an MR conditional robot for prostate intervention

Lin, Yuyang; Shi, Yunlai; Wang, Fugang; Zhang, Jun; Sun, Haichao; Wu, Wenbo

doi:10.1007/s11517-021-02347-5

Cited by 3 publications

(1 citation statement)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The automatic positioning of hundreds of acupuncture points requires the integration of robot and binocular camera. Lin et al developed a 6-DOF prostate intervention serial robot, and established a binocular vision system (BVS) to evaluate the placement accuracy of the puncture needle and accurately locate the puncture point [22]. Zhang et al designed a special binocular vision system, and put forward a tool center point (TCP) calibration method [23].…”

Section: Introductionmentioning

confidence: 99%

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Zhang

et al. 2022

IEEE Access

View full text Add to dashboard Cite

Ultrasonic scanning is the most commonly used method for detecting breast cancer. Traditional breast ultrasound mainly relies on manual examination, which requires doctors with rich clinical experience. The scanning path planning of the robot for breast ultrasound examination based on binocular vision and non-uniform rational B-Splines (NURBS) is proposed in this paper to solve the limitations of traditional examination methods. First, breast images are acquired by the binocular camera. The depth information of the images is obtained through stereo matching, and the 3D point cloud reconstruction of the breast model is completed. Second, the spatial index algorithm based on the K-dimension tree (Kd-tree) and uniform sampling method are selected to denoise and down-sample the point cloud model to complete the preliminary optimization of the model. The point cloud information for the scanning path is extracted according to the method of point cloud extraction and the principle of normal vector calculation. Then, the interpolation optimization of the scanning path based on the NURBS curve is completed. The optimized scanning path is transformed into the robot motion path. Finally, the robot motion is simulated and analyzed, and the experimental results show that the rationality of robot operation and the smoothness of robot motion meet the requirements of path planning defined in this paper. The error analysis experiment shows that the path planned by this method can ensure the efficiency and accuracy of ultrasound examination.INDEX TERMS Ultrasound examination, binocular vision, NURBS, scanning path planning, point cloud reconstruction, robot path planning.

show abstract

Section: Introductionmentioning

confidence: 99%

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Zhang

et al. 2022

IEEE Access

View full text Add to dashboard Cite

show abstract

An asynchronous dual-foot inertial piezoelectric actuator with strong magnetic compatibility

Li,

Yuan,

Wang

et al. 2024

Sensors and Actuators A: Physical

View full text Add to dashboard Cite

Design and Validation of a Nonparasitic 2R1T Parallel Hand-Held Prostate Biopsy Robot With Remote Center of Motion

Jiang

Wang

et al. 2023

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

An increasing number of grounded robots are being used in prostate interventions to improve clinical outcomes, but their large size and high-cost limit their popularity. Thus, we present a hand-held 3-degree of freedom (DoF) parallel robot with a-remote center of motion (RCM) for minimally invasive prostate biopsy applications, combining the flexibility of hand-held devices with the precision of robotic assistance. First, the kinematic structure of robotic assistance is introduced according to its design requirements. Then, the kinematic analysis of robotic assistance is carried out by using a simplified kinematic model. The kinematic parameters are designed according to the desired workspace. A prototype has been developed and validated in animal experiments. Twenty beagles of different sizes were selected for the robot-assisted and controlled experiments, resulting in target errors of 3.30 ± 1.63 mm and 5.40 ± 1.76 mm, respectively. The error of robot-assisted experiments was significantly better than in controlled experiments. Preliminary animal tests have demonstrated that the hand-held robot can improve the accuracy of free-hand biopsy punctures.

show abstract

Development and placement accuracy evaluation of an MR conditional robot for prostate intervention

Cited by 3 publications

References 19 publications

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

An asynchronous dual-foot inertial piezoelectric actuator with strong magnetic compatibility

Design and Validation of a Nonparasitic 2R1T Parallel Hand-Held Prostate Biopsy Robot With Remote Center of Motion

Contact Info

Product

Resources

About