Virtual remote center of motion control for needle placement robots.
Comput Aided Surg
; 9(5): 175-83, 2004.
Article
en En
| MEDLINE
| ID: mdl-16192059
ABSTRACT
OBJECTIVE:
We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM). MATERIALS ANDMETHODS:
The algorithm requires only online tracking of the surgical tool and a five-degree-of-freedom (5-DOF) robot comprising three prismatic DOF and two rotational DOF. An incremental adaptive motion control cycle guides the needle to the insertion point and also orients it to align with the target-entry-point line. The robot executes RCM motion without having a physically constrained fulcrum point.RESULTS:
The proof-of-concept prototype system achieved 0.78 mm translation accuracy and 1.4 degrees rotational accuracy (this is within the tracker accuracy) within 17 iterative steps (0.5-1 s).CONCLUSION:
This research enables robotic assistant systems for image-guided percutaneous procedures to be prototyped/constructed more quickly and less expensively than has been previously possible. Since the clinical utility of such systems is clear and has been demonstrated in the literature, our work may help promote widespread clinical adoption of this technology by lowering system cost and complexity.
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Colección:
01-internacional
Banco de datos:
MEDLINE
Asunto principal:
Algoritmos
/
Robótica
/
Agujas
Idioma:
En
Revista:
Comput Aided Surg
Año:
2004
Tipo del documento:
Article
País de afiliación:
Estados Unidos