A novel respiratory follow |
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A novel respiratory follow
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The application of robotic puncture system in thoracic-abdominal puncture (TAP) surgery has been hindered by the undistinguished accuracy on account of the respiratory motion. In order to mitigate this challenge, a respiratory follow-up robotic system (RFRS) is designed for accurate surgical puncture. Notably, a control strategy on robotic puncture is proposed to compensate the tissue deformation under the effect of clinical respiration. With the real-time analysis of breathing motion, the movement of robotic arm is composed by follow-up compensation related to respiratory motion and insertion toward the target. An online target location model proposed here aims to restrict the surgical instrument overlapped with the planned target, increasing the accuracy, safety, flexibility, and agility of puncture procedures. Experimental results suggest that the presented system achieved outperforming accuracy, movement capabilities, and robustness. It is promising that the RFRS will be effective in TAP by analyzing breathing motion for tissue deformation compensation.
中文翻译：
机器人穿刺系统在胸腹腔穿刺 (TAP) 手术中的应用因呼吸运动的不确定性而受到阻碍。为了缓解这一挑战，呼吸随访机器人系统 (RFRS) 被设计用于准确的手术穿刺。值得注意的是，提出了一种机器人穿刺控制策略来补偿临床呼吸作用下的组织变形。通过呼吸运动的实时分析，机械臂的运动由与呼吸运动相关的后续补偿和向目标插入组成。这里提出的在线目标定位模型旨在限制与计划目标重叠的手术器械，提高穿刺过程的准确性、安全性、灵活性和敏捷性。实验结果表明，所提出的系统实现了卓越的准确性、运动能力和鲁棒性。通过分析用于组织变形补偿的呼吸运动，RFRS 有望在 TAP 中有效。 |
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