A robot for image-guided percutaneous intervention: Decoupled motion capability correlated to the positioning and orientation steps of the percutaneous intervention
10.3969/j.issn.1673-8225.2009.48.009
- VernacularTitle:影像引导经皮穿刺治疗机器人系统:经皮穿刺过程中位置和姿态的运动解耦
- Author:
Tong LU
;
Ping LIANG
;
Shuangcheng DENG
;
Yingyu CAO
;
Rao YAO
- Publication Type:Journal Article
- From:
Chinese Journal of Tissue Engineering Research
2009;13(48):9447-9450
- CountryChina
- Language:Chinese
-
Abstract:
The purpose of this study was to develop a robotic system for image-guided percutaneous interventions using ultrasound (US) or computed tomography (CT) for needle biopsy, ablation, cryotherapy, and other needle procedures. The conventional operation of puncture was analyzed firstly, and a compact robot was then designed for manipulating a needle or other slender surgical instrument in the confined space. Its distinctive characteristic is the decoupled motion capability correlated to the positioning and orientation steps of the percutaneous intervention. This approach allowed each step of the intervention to be performed using a separate mechanism of the robot. One major advantage of this kinematic approach was patient safety.
