摘要
Radiofrequency ablation(RFA)guided by X-ray images aims to relieve herniated disc pain with mini-mal invasiveness and fast recovery.It requires an accurate and fast positioning of the puncture needle.We propose a teleoperated robotic system for percutaneous puncture to support RFA.We report the kinematics modelling and workspace analysis of the proposed system,which comprises preliminary and accurate positioning mechanisms.Preliminary positioning mechanism automatically drives the needle to the puncture area,and accurate positioning is then achieved by teleoperation under the guidance of X-ray images.We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace.The workspace of the proposed robot system complies with clinical requirements to support RFA.
作者
HU Bo
LIN Yanping
CHEN Shihang
WANG Fang
MA Xiaojun
CAO Qixin
胡博;林艳萍;陈士行;汪方;马小军;曹其新(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200240,China;Department of Orthopedics,Shanghai General Hospital,Shanghai Jiao Tong University School of Medicine,Shanghai 200080,China)
基金
the National Natural Science Foundation of China(No.51575343)。
