TY - GEN
T1 - Force-driven robotic drag control for freehand 3D ultrasound-guided robot-assisted percutaneous surgery
AU - Sun, Yinshan
AU - Wu, Dongmei
AU - Du, Zhijiang
AU - Sun, Lining
PY - 2009
Y1 - 2009
N2 - Freehand 3D US-guided robot-assisted percutaneous surgery system, presently under development in our laboratory, has the potential to overcome some drawbacks of current conventional clinical interventions. The robot is commanded to insert accurately the needle into the target in patient's body according to planned path in the 3D model reconstructed by freehand 3D US by several separate steps, one of which is to move the needle tip to the selected insertion point on the surface of the skin. In this paper, we present a force-driven robotic drag control algorithm, designed to transform axial drag force signal of the force sensor mounted approximate to the needle propeller into motor pulse signal of the corresponding axis, to allow the surgeon to drag the robot and lead the needle tip to the entry point manually and flexibly. Experiment has been conducted to validate the algorithm performance.
AB - Freehand 3D US-guided robot-assisted percutaneous surgery system, presently under development in our laboratory, has the potential to overcome some drawbacks of current conventional clinical interventions. The robot is commanded to insert accurately the needle into the target in patient's body according to planned path in the 3D model reconstructed by freehand 3D US by several separate steps, one of which is to move the needle tip to the selected insertion point on the surface of the skin. In this paper, we present a force-driven robotic drag control algorithm, designed to transform axial drag force signal of the force sensor mounted approximate to the needle propeller into motor pulse signal of the corresponding axis, to allow the surgeon to drag the robot and lead the needle tip to the entry point manually and flexibly. Experiment has been conducted to validate the algorithm performance.
UR - https://www.scopus.com/pages/publications/77951574922
U2 - 10.1109/ROBIO.2009.5420531
DO - 10.1109/ROBIO.2009.5420531
M3 - 会议稿件
AN - SCOPUS:77951574922
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 1953
EP - 1956
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -