A robotic puncture system with optical and mechanical feedback under respiratory motion
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 deformat...
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| Veröffentlicht in: | The international journal of medical robotics + computer assisted surgery 2022-08, Vol.18 (4), p.e2403-n/a |
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| container_title | The international journal of medical robotics + computer assisted surgery |
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| creator | Zhang, Wenlong Bao, Kaiyang Zheng, Lingxiang Cai, Lijing Yan, Biao Yang, Rongqian |
| description | 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. |
| doi_str_mv | 10.1002/rcs.2403 |
| format | Article |
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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.</description><identifier>ISSN: 1478-5951</identifier><identifier>EISSN: 1478-596X</identifier><identifier>DOI: 10.1002/rcs.2403</identifier><identifier>PMID: 35384266</identifier><language>eng</language><publisher>England: Wiley Subscription Services, Inc</publisher><subject>End effectors ; Feedback ; Human tissues ; mechanical feedback ; optics and mechanics ; respiratory motion ; Robot dynamics ; robotic puncture ; Soft tissues ; Surgery ; Trajectory planning</subject><ispartof>The international journal of medical robotics + computer assisted surgery, 2022-08, Vol.18 (4), p.e2403-n/a</ispartof><rights>2022 John Wiley & Sons Ltd.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3833-27df28f959142495e319428874c3a50002c0a137228e991a0bf20475eb6edc8d3</citedby><cites>FETCH-LOGICAL-c3833-27df28f959142495e319428874c3a50002c0a137228e991a0bf20475eb6edc8d3</cites><orcidid>0000-0001-7864-2677</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frcs.2403$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frcs.2403$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>315,781,785,1418,27925,27926,45575,45576</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/35384266$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Zhang, Wenlong</creatorcontrib><creatorcontrib>Bao, Kaiyang</creatorcontrib><creatorcontrib>Zheng, Lingxiang</creatorcontrib><creatorcontrib>Cai, Lijing</creatorcontrib><creatorcontrib>Yan, Biao</creatorcontrib><creatorcontrib>Yang, Rongqian</creatorcontrib><title>A robotic puncture system with optical and mechanical feedback under respiratory motion</title><title>The international journal of medical robotics + computer assisted surgery</title><addtitle>Int J Med Robot</addtitle><description>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.</description><subject>End effectors</subject><subject>Feedback</subject><subject>Human tissues</subject><subject>mechanical feedback</subject><subject>optics and mechanics</subject><subject>respiratory motion</subject><subject>Robot dynamics</subject><subject>robotic puncture</subject><subject>Soft tissues</subject><subject>Surgery</subject><subject>Trajectory planning</subject><issn>1478-5951</issn><issn>1478-596X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><recordid>eNp1kNtKxDAQhoMorifwCSTgjTfVHNvkclk8gSB4QO9Kmk6x2jY1aVn69mZdDyB4NTPMx8fMj9AhJaeUEHbmbThlgvANtENFphKp0-fNn17SGdoN4ZUQIUUqttGMS64ES9Md9DTH3hVuqC3ux84OowccpjBAi5f18IJdH1emwaYrcQv2xXSfYwVQFsa-4bErwWMPoa-9GZyfcBtlrttHW5VpAhx81T30eHH-sLhKbm4vrxfzm8RyxXnCsrJiqtJSU8GElsCpFkypTFhuJIm_WWIozxhToDU1pKgYEZmEIoXSqpLvoZO1t_fufYQw5G0dLDSN6cCNIWepyFIpmeQRPf6DvrrRd_G6SClJCZWp_hVa70LwUOW9r1vjp5ySfBV2HsPOV2FH9OhLOBYtlD_gd7oRSNbAsm5g-leU3y3uP4UfCQGHJg</recordid><startdate>202208</startdate><enddate>202208</enddate><creator>Zhang, Wenlong</creator><creator>Bao, Kaiyang</creator><creator>Zheng, Lingxiang</creator><creator>Cai, Lijing</creator><creator>Yan, Biao</creator><creator>Yang, Rongqian</creator><general>Wiley Subscription Services, Inc</general><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>K9.</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0001-7864-2677</orcidid></search><sort><creationdate>202208</creationdate><title>A robotic puncture system with optical and mechanical feedback under respiratory motion</title><author>Zhang, Wenlong ; Bao, Kaiyang ; Zheng, Lingxiang ; Cai, Lijing ; Yan, Biao ; Yang, Rongqian</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3833-27df28f959142495e319428874c3a50002c0a137228e991a0bf20475eb6edc8d3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>End effectors</topic><topic>Feedback</topic><topic>Human tissues</topic><topic>mechanical feedback</topic><topic>optics and mechanics</topic><topic>respiratory motion</topic><topic>Robot dynamics</topic><topic>robotic puncture</topic><topic>Soft tissues</topic><topic>Surgery</topic><topic>Trajectory planning</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zhang, Wenlong</creatorcontrib><creatorcontrib>Bao, Kaiyang</creatorcontrib><creatorcontrib>Zheng, Lingxiang</creatorcontrib><creatorcontrib>Cai, Lijing</creatorcontrib><creatorcontrib>Yan, Biao</creatorcontrib><creatorcontrib>Yang, Rongqian</creatorcontrib><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Health & Medical Complete (Alumni)</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Zhang, Wenlong</au><au>Bao, Kaiyang</au><au>Zheng, Lingxiang</au><au>Cai, Lijing</au><au>Yan, Biao</au><au>Yang, Rongqian</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A robotic puncture system with optical and mechanical feedback under respiratory motion</atitle><jtitle>The international journal of medical robotics + computer assisted surgery</jtitle><addtitle>Int J Med Robot</addtitle><date>2022-08</date><risdate>2022</risdate><volume>18</volume><issue>4</issue><spage>e2403</spage><epage>n/a</epage><pages>e2403-n/a</pages><issn>1478-5951</issn><eissn>1478-596X</eissn><abstract>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.</abstract><cop>England</cop><pub>Wiley Subscription Services, Inc</pub><pmid>35384266</pmid><doi>10.1002/rcs.2403</doi><tpages>11</tpages><orcidid>https://orcid.org/0000-0001-7864-2677</orcidid><oa>free_for_read</oa></addata></record> |
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| language | eng |
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| subjects | End effectors Feedback Human tissues mechanical feedback optics and mechanics respiratory motion Robot dynamics robotic puncture Soft tissues Surgery Trajectory planning |
| title | A robotic puncture system with optical and mechanical feedback under respiratory motion |
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