Estimation Equation of Needle Deflection Based on Dynamics Model in Robot-assisted Percutaneous Surgery

被引：0
|
作者：
Ma, Wenzhong [1 ]
Wu, Dongmei [1 ]
Du, Zhijiang [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
来源：
EQUIPMENT MANUFACTURING TECHNOLOGY AND AUTOMATION, PTS 1-3 | 2011年 / 317-319卷
关键词：
needle deflection; estimation equation; robot-assisted percutaneous surgery;
D O I：
10.4028/www.scientific.net/AMR.317-319.633
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aimed to robot-assisted percutaneous surgery, we present an estimation equation to calculate the deflection at needle tip based on dynamics model in this paper. According to the equation, we can use the needle loads to calculate the estimation deflection of needle tip, during needle insertion into soft tissue. Finally, verifying experiments of estimation equation were carried out on a liver. The experimental result shows that the error of equation proposed is small and acceptable. This equation can be used to estimate deflection and direction of needle tip, and can also provide a reference strategy in robot-assisted percutaneous surgery.
引用
收藏
页码：633 / 637
页数：5
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