Abstract
This paper designs a manual percutaneous puncture actuator, and proposes a semi-automatic human-machine collaboration workflow that fully integrates the high precision of the robot and the flexibility of the doctor. This paper verifies the second-order polynomial relationship between the friction force of the needle in the tissue and the deflection through experiments. In the framework of the workflow proposed in this paper, combined with the damage-minimizing puncture method proposed in this paper, manual high-precision puncture is realized, and the accuracy of manual puncture is improved by 86% when the penetration depth is 120 mm.
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Acknowledgements
This research was funded by National Key Research and Development Program of China (Grant No. 2019YFB1311303), Natural Science Foundation of China (Grant No. U1713202) and Major scientific and technological innovation projects in Shandong Province (Grant No. 2019JZZY010430).
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Zhang, L., Li, C., Fan, Y., Liu, G., Zhang, X., Zhao, J. (2021). Design and Experiment of Actuator for Semi-automatic Human-Machine Collaboration Percutaneous Surgery. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_9
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