Optimal Design and Experiment of Cable-Driven Puncturing Surgery Robot for Soft Needle

Author:

Li Jihua1,Jiang Qi2

Affiliation:

1. School of Control Science and Engineering, Shandong University , No. 17923 Jingshi Road, Jinan 250000, Shandong, China

2. School of Control Science and Engineering, Shenzhen Research Institute of Shandong University, Shandong University No. 17923 Jingshi Road, Jinan 250000, Shandong, China

Abstract

AbstractIn this paper, a cable-driven puncturing surgery robot named cable-driven puncturing surgery robot (CPSR) is proposed for soft needle. The cable-driven mechanism has lower mass, smaller dimension and smooth transmission. The motor driving the rotational joints is separated using cable, which strengthens the dynamic performance of the robot. A decoupling mechanism based on movable pulley is also proposed to eliminate the cable coupling error. Transmission error of cable-driven mechanism is also analyzed to improve the control accuracy. The simulation of transmission error is completed to optimize the design parameters of cable-driven mechanism. In experiments, the feasibility of the cable decoupling mechanism is validated. Also the insertion error less than 0.7 mm and repeatability less than 2.5 mm are achieved. Finally the reasons limiting the accuracy and corresponding solutions are discussed. In the future research, the shape sensor will be fabricated using optic fiber and mounted on the slim needle which are helpful to complete automated operations with higher accuracy.

Funder

National Natural Science Foundation of China

Publisher

ASME International

Subject

Biomedical Engineering,Medicine (miscellaneous)

Reference36 articles.

1. Needle Insertion Into Soft Tissue: A Survey;Med. Eng. Phys.,2007

2. Resolution-Optimal Motion Planning for Steerable Needles,2022

3. Nonholonomic Modeling of Needle Steering;Int. J. Rob. Res.,2006

4. Towards 3D Ultrasound Guided Needle Steering Robust to Uncertainties, Noise, and Tissue Heterogeneity;IEEE Trans. Bio-Med. Eng.,2021

5. Continuum Robots for Medical Interventions;Proc. IEEE Inst. Electr. Electron. Eng.,2022

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3