An admittance-controlled amplified force tracking scheme for collaborative lumbar puncture surgical robot system.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Oct 1, 2022

Abstract

BACKGROUND: The accurate sensing and display of the delicate needle-tissue interaction force to the operator is desirable for needle insertion procedures. It not only plays a significant role in the surgical treatment effect, but also has a great significance in improving surgical safety and reducing the incidence of complications. However, the direct detection of the interaction force between the tissue and needle tip by placement of a force sensor is challenging owing to the constraints of miniaturisation, cost, and sterilisation.

Authors

  • Hongbing Li
    Department of Instrument Science and Engineering, Shanghai Jiaotong University, and Shanghai Engineering Research Center for Intelligent Diagnosis and Treatment Instrument, Shanghai, China.
  • Xun Nie
    Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China.
  • Ding Duan
    Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China.
  • Yuling Li
    Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China.
  • Jing Zhang
    MOEMIL Laboratory, School of Optoelectronic Information, University of Electronic Science and Technology of China, Chengdu, China.
  • Min Zhou
    Department of Respiratory and Critical Care Medicine, Ruijin Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200025, China.
  • Evgeni Magid
    Institute of Information Technology and Intelligent Systems, Kazan Federal University, Kazan, Russia.

Keywords

External Resources

Popular Topics
Recent Journals