@inproceedings{5e4c0d194bb648d6ac958c3007f4fe9a,
title = "Design and Experiment of Actuator for Semi-automatic Human-Machine Collaboration Percutaneous Surgery",
abstract = "This paper designs a manual percutaneous puncture actuator, and proposes a semi-automatic human-machine collaboration workflow that fully integrates the high precision of the robot and the flexibility of the doctor. This paper verifies the second-order polynomial relationship between the friction force of the needle in the tissue and the deflection through experiments. In the framework of the workflow proposed in this paper, combined with the damage-minimizing puncture method proposed in this paper, manual high-precision puncture is realized, and the accuracy of manual puncture is improved by 86\% when the penetration depth is 120 mm.",
keywords = "Human-machine collaboration, Needle deflection, Percutaneous",
author = "Leifeng Zhang and Changle Li and Yilun Fan and Gangfeng Liu and Xuehe Zhang and Jie Zhao",
note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021 ; Conference date: 22-10-2021 Through 25-10-2021",
year = "2021",
doi = "10.1007/978-3-030-89098-8\_9",
language = "英语",
isbn = "9783030890971",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "90--99",
editor = "Xin-Jun Liu and Zhenguo Nie and Jingjun Yu and Fugui Xie and Rui Song",
booktitle = "Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings",
address = "德国",
}