Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis|HU Bo;LIN Yanping;CHEN Shihang;WANG Fang;MA Xiaojun;CAO Qixin|Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200240,China - 期刊导航|首站-论文投稿智能助手|论文发表|论文智能投稿|期刊自助发表推荐|杂志社快速发表|查同导刊-域田数据官方网站

典型文献

Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis

文献摘要：

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 require-ments to support RFA.

文献关键词：

中图分类号：

[1] 自动化技术、计算机技术（TP） / 计算技术、计算机技术（TP3） / 计算机的应用（TP39） / 信息处理(信息加工)（TP391）

[2] 天文学、地球科学（P） / 地球物理学（P3） / 空间物理（P35）

[3] 医药、卫生（R） / 药学（R9） / 药理学（R96） / 实验药理学（R965）

作者姓名：

HU Bo;LIN Yanping;CHEN Shihang;WANG Fang;MA Xiaojun;CAO Qixin

作者机构：

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

文献出处：

上海交通大学学报（英文版）

引用格式：

[1]HU Bo;LIN Yanping;CHEN Shihang;WANG Fang;MA Xiaojun;CAO Qixin-.Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis)[J].上海交通大学学报（英文版）,2022(01):15-23

A类：

Teleoperated,herniated,teleoperated

B类：

Puncture,Robot,System,Preliminary,Design,Workspace,Analysis,Radiofrequency,ablation,RFA,guided,by,ray,images,aims,relieve,disc,pain,mini,invasiveness,fast,recovery,It,requires,accurate,positioning,puncture,needle,We,robotic,system,percutaneous,support,report,kinematics,modelling,workspace,analysis,proposed,which,comprises,preliminary,mechanisms,automatically,drives,area,then,achieved,teleoperation,under,guidance,calculate,using,spatial,search,algorithm,quantitatively,analyze,optimal,structural,parameters,aiming,maximize,complies,clinical,ments

AB值：

0.552814

相似文献

Acoustics-Based Autonomous Docking for A Deep-Sea Resident ROV

ZHANG Yun-xiu;ZHANG Qi-feng;ZHANG Ai-qun;CHEN Jun;LI Xin-guo;HE Zhen-State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China;Institutes of Deep-sea Science and Engineering,Chinese Academy of Sciences,Sanya 100049,China;Institutes of Acoustics,Chinese Academy of Science,Beijing 100190,China

Joint Optimization of Task Caching,Computation Offloading and Resource Allocation for Mobile Edge Computing

Zhixiong Chen;Zhengchuan Chen;Zhi Ren;Liang Liang;Wanli Wen;Yunjian Jia-School of Microelectronics and Communication Engineering,Chongqing University,Chongqing,400044 China;National Mobile Communications Research Laboratory,Southeast University,Nanjing,210096 China;School of Communication and Information Engineering,Chongqing University of Posts and Telecommunications,Chongqing,400065 China;Chongqing Key Laboratory of Space Information Network and Intelligent Information Fusion,Chongqing,400044 China

Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning

Ruofan Wu-School of Electrical,Computer and Energy Engineering,Arizona State University,Tempe,AZ 85287 USA;Department of Biomedical Engineering,North Carolina State University,Raleigh,NC 27695 USA;University of North Carolina at Chapel Hill,Chapel Hill,NC 27599 USA

Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints

Hao Zhang;Jianwen Sun;Zhuping Wang-Department of Control Science and Engineering,Tongji University, Shanghai 201804, China

Distributed Optimization Algorithm for Multi-Robot Formation with Virtual Reference Center