Teleoperated Puncture Robot System: Preliminary Design and Workspace Analysis

doi:10.1007/s12204-021-2368-3

J Shanghai Jiaotong Univ Sci ›› 2022, Vol. 27 ›› Issue (1): 15-23.doi: 10.1007/s12204-021-2368-3

收稿日期:2020-12-17 出版日期:2022-01-28 发布日期:2022-01-14
通讯作者: LIN Yanping (林艳萍),yanping lin@sjtu.edu.cn MA Xiaojun (马小军), CAO Qixin1,2 (曹其新)

Teleoperated Puncture Robot System: Preliminary Design and Workspace Analysis

HU Bo¹ (胡博), LIN Yanping^1,2∗ (林艳萍), CHEN Shihang¹ (陈士行), WANG Fang³ (汪方), MA Xiaojun³ (马小军), CAO Qixin^1，2 (曹其新)

(1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China; 3. Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200080, China)

Received:2020-12-17 Online:2022-01-28 Published:2022-01-14

摘要/Abstract

Abstract: Radiofrequency ablation (RFA) guided by X-ray images aims to relieve herniated disc pain with minimal invasiveness and fast recovery. It requires an accurate and fast positioning of the puncture needle. We propose a teleoperated robotic system for percutaneous puncture to support RFA. We report the kinematics modelling and workspace analysis of the proposed system, which comprises preliminary and accurate positioning mechanisms. Preliminary positioning mechanism automatically drives the needle to the puncture area, and accurate positioning is then achieved by teleoperation under the guidance of X-ray images. We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace. The workspace of the proposed robot system complies with clinical requirements to support RFA.

中图分类号:

TP 242
R 318

. [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 15-23.

HU Bo (胡博), LIN Yanping∗ (林艳萍), CHEN Shihang (陈士行), WANG Fang (汪方), MA Xiaojun (马小军), CAO Qixin (曹其新). Teleoperated Puncture Robot System: Preliminary Design and Workspace Analysis[J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 15-23.

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Teleoperated Puncture Robot System: Preliminary Design and Workspace Analysis

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