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.
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]. Journal of Shanghai Jiaotong University(Science), 2022
, 27(1)
: 15
-23
.
DOI: 10.1007/s12204-021-2368-3
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