Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy
In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effecto...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Jiang, Shan [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2017 |
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| Rechteinformationen: |
Nutzungsrecht: © 2017 Taylor & Francis and The Robotics Society of Japan 2017 |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
Enthalten in: Advanced robotics - Utrecht : VNU Sciences Pr., 1986, 31(2017), 11, Seite 557 |
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| Übergeordnetes Werk: |
volume:31 ; year:2017 ; number:11 ; pages:557 |
| Links: |
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| DOI / URN: |
10.1080/01691864.2017.1298465 |
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| 520 | |a In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. | ||
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10.1080/01691864.2017.1298465 doi PQ20171125 (DE-627)OLC1994980710 (DE-599)GBVOLC1994980710 (PRQ)i1282-38b57e158534bd0d3b1ecbe7d2881093f823a97afb844c1dce400d00b32f6bea0 (KEY)0142017820170000031001100557modellingandanalysisofanovelctguidedpuncturerobotf DE-627 ger DE-627 rakwb eng 004 620 DNB 50.25 bkl Jiang, Shan verfasserin aut Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. Nutzungsrecht: © 2017 Taylor & Francis and The Robotics Society of Japan 2017 method to decrease the puncture error Medical robot kinematic optimisation Yuan, Wei oth Yang, Yunpeng oth Zhang, Daguang oth Liu, Ningbo oth Wang, Wei oth Enthalten in Advanced robotics Utrecht : VNU Sciences Pr., 1986 31(2017), 11, Seite 557 (DE-627)12921616X (DE-600)55912-X (DE-576)029137179 0169-1864 nnns volume:31 year:2017 number:11 pages:557 http://dx.doi.org/10.1080/01691864.2017.1298465 Volltext http://www.tandfonline.com/doi/abs/10.1080/01691864.2017.1298465 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2020 GBV_ILN_2244 50.25 AVZ AR 31 2017 11 557 |
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10.1080/01691864.2017.1298465 doi PQ20171125 (DE-627)OLC1994980710 (DE-599)GBVOLC1994980710 (PRQ)i1282-38b57e158534bd0d3b1ecbe7d2881093f823a97afb844c1dce400d00b32f6bea0 (KEY)0142017820170000031001100557modellingandanalysisofanovelctguidedpuncturerobotf DE-627 ger DE-627 rakwb eng 004 620 DNB 50.25 bkl Jiang, Shan verfasserin aut Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. Nutzungsrecht: © 2017 Taylor & Francis and The Robotics Society of Japan 2017 method to decrease the puncture error Medical robot kinematic optimisation Yuan, Wei oth Yang, Yunpeng oth Zhang, Daguang oth Liu, Ningbo oth Wang, Wei oth Enthalten in Advanced robotics Utrecht : VNU Sciences Pr., 1986 31(2017), 11, Seite 557 (DE-627)12921616X (DE-600)55912-X (DE-576)029137179 0169-1864 nnns volume:31 year:2017 number:11 pages:557 http://dx.doi.org/10.1080/01691864.2017.1298465 Volltext http://www.tandfonline.com/doi/abs/10.1080/01691864.2017.1298465 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2020 GBV_ILN_2244 50.25 AVZ AR 31 2017 11 557 |
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10.1080/01691864.2017.1298465 doi PQ20171125 (DE-627)OLC1994980710 (DE-599)GBVOLC1994980710 (PRQ)i1282-38b57e158534bd0d3b1ecbe7d2881093f823a97afb844c1dce400d00b32f6bea0 (KEY)0142017820170000031001100557modellingandanalysisofanovelctguidedpuncturerobotf DE-627 ger DE-627 rakwb eng 004 620 DNB 50.25 bkl Jiang, Shan verfasserin aut Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. Nutzungsrecht: © 2017 Taylor & Francis and The Robotics Society of Japan 2017 method to decrease the puncture error Medical robot kinematic optimisation Yuan, Wei oth Yang, Yunpeng oth Zhang, Daguang oth Liu, Ningbo oth Wang, Wei oth Enthalten in Advanced robotics Utrecht : VNU Sciences Pr., 1986 31(2017), 11, Seite 557 (DE-627)12921616X (DE-600)55912-X (DE-576)029137179 0169-1864 nnns volume:31 year:2017 number:11 pages:557 http://dx.doi.org/10.1080/01691864.2017.1298465 Volltext http://www.tandfonline.com/doi/abs/10.1080/01691864.2017.1298465 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2020 GBV_ILN_2244 50.25 AVZ AR 31 2017 11 557 |
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10.1080/01691864.2017.1298465 doi PQ20171125 (DE-627)OLC1994980710 (DE-599)GBVOLC1994980710 (PRQ)i1282-38b57e158534bd0d3b1ecbe7d2881093f823a97afb844c1dce400d00b32f6bea0 (KEY)0142017820170000031001100557modellingandanalysisofanovelctguidedpuncturerobotf DE-627 ger DE-627 rakwb eng 004 620 DNB 50.25 bkl Jiang, Shan verfasserin aut Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. Nutzungsrecht: © 2017 Taylor & Francis and The Robotics Society of Japan 2017 method to decrease the puncture error Medical robot kinematic optimisation Yuan, Wei oth Yang, Yunpeng oth Zhang, Daguang oth Liu, Ningbo oth Wang, Wei oth Enthalten in Advanced robotics Utrecht : VNU Sciences Pr., 1986 31(2017), 11, Seite 557 (DE-627)12921616X (DE-600)55912-X (DE-576)029137179 0169-1864 nnns volume:31 year:2017 number:11 pages:557 http://dx.doi.org/10.1080/01691864.2017.1298465 Volltext http://www.tandfonline.com/doi/abs/10.1080/01691864.2017.1298465 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2020 GBV_ILN_2244 50.25 AVZ AR 31 2017 11 557 |
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10.1080/01691864.2017.1298465 doi PQ20171125 (DE-627)OLC1994980710 (DE-599)GBVOLC1994980710 (PRQ)i1282-38b57e158534bd0d3b1ecbe7d2881093f823a97afb844c1dce400d00b32f6bea0 (KEY)0142017820170000031001100557modellingandanalysisofanovelctguidedpuncturerobotf DE-627 ger DE-627 rakwb eng 004 620 DNB 50.25 bkl Jiang, Shan verfasserin aut Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy 2017 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. Nutzungsrecht: © 2017 Taylor & Francis and The Robotics Society of Japan 2017 method to decrease the puncture error Medical robot kinematic optimisation Yuan, Wei oth Yang, Yunpeng oth Zhang, Daguang oth Liu, Ningbo oth Wang, Wei oth Enthalten in Advanced robotics Utrecht : VNU Sciences Pr., 1986 31(2017), 11, Seite 557 (DE-627)12921616X (DE-600)55912-X (DE-576)029137179 0169-1864 nnns volume:31 year:2017 number:11 pages:557 http://dx.doi.org/10.1080/01691864.2017.1298465 Volltext http://www.tandfonline.com/doi/abs/10.1080/01691864.2017.1298465 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2020 GBV_ILN_2244 50.25 AVZ AR 31 2017 11 557 |
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Advanced robotics |
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Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy |
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Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy |
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Jiang, Shan |
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10.1080/01691864.2017.1298465 |
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modelling and analysis of a novel ct-guided puncture robot for lung brachytherapy |
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Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy |
| abstract |
In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. |
| abstractGer |
In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. |
| abstract_unstemmed |
In this paper, we present a novel CT-guided needle puncture robot system with seven degree of freedoms. All basic requirements of interventional radiology can be met. To solve the space constraints and compatibility requirement, tendon-sheath transmission is used as the drive mode of the end-effector. According to the kinematics analysis of the robot configuration, the reachable workspace is obtained, which can completely cover the chest of patient. Based on the Jacobian matrix, dimension parameters are optimised for better flexibility and kinematic performance in the workspace. Since respiratory movement will cause real-time motion of the tumour, a method is proposed to decrease the puncture error caused by respiratory movement. And the feasibility of this method is verified by puncture experiment based on independent design of respiratory motion simulation device. It is proved that this method will lead to an increase in the puncture accuracy by 2.4 times. In addition, the CT compatibility of the robot is verified, and the positioning accuracy is also measured through the experiments. |
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| title_short |
Modelling and analysis of a novel CT-guided puncture robot for lung brachytherapy |
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http://dx.doi.org/10.1080/01691864.2017.1298465 http://www.tandfonline.com/doi/abs/10.1080/01691864.2017.1298465 |
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Yuan, Wei Yang, Yunpeng Zhang, Daguang Liu, Ningbo Wang, Wei |
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