The Navigation and Positioning Method of Active plus Passive Ultrasound-Guided Robot for Liver Cancer Coagulation Therapy-Reference-Cited by-同舟云学术

The Navigation and Positioning Method of Active plus Passive Ultrasound-Guided Robot for Liver Cancer Coagulation Therapy

Published:2012-12 Issue: Volume:605-607 Page:1453-1459
ISSN:1662-8985
Container-title:Advanced Materials Research
language:
Short-container-title:AMR

Author:

Cao Ying Yu¹,Qi Bo Jin²,Wang Shao Xian³,Cui Wei Tao³

Affiliation:

1. Beihang University

2. School of Mechanical Engineering and Automation, Beihang University

3. Beijing Institute of Petrochemical Technology

Abstract

The navigation and positioning of medical robot was the precondition of taking the medical robot-assisted surgery. The navigation and positioning method of ultrasound-guided robot for liver cancer coagulation therapy was introduced. This paper presented the positioning method of different functions of robot based on the characteristics of active plus passive robot. The homologous point least squares matching method was employed for the robot 3D platform and the space vector calculation method was used for the robot RCM structure arm. The experimental results show that the robot positioning error is 1.32 ± 0.83mm, and the average positioning time is 5.5s, which can meet the requirements on the positioning accuracy, positioning time and operating flexibility of the liver cancer coagulation therapy.

Publisher

Trans Tech Publications, Ltd.

Subject

General Engineering

Link

https://www.scientific.net/AMR.605-607.1453.pdf

Reference5 articles.

1. Chen Mengdong, Li Wei, Wang Tianmiao. Location and mapping in robotic system for stereotactic neurosurgery[J]. Chinese Journal of Biomedical Engineering, 2001, 20(5): 385-393.

2. Zhu yabju, Meng cai, Liu jinghua. The vision-calibration method facing robot-assisted neurosurgery[J]. high technology letters, 2004, 14(11): 69-74.

3. Pan Feng, Wu Wei, Yang Yilu. Coordinate Mapping of Brain Surgery Robot System Based on Vision Localization[J]. Journal of Northeastern University (Natural Science), 2005, 26(5): 413-416.

4. Stoianovici D. URobotics-urology robotics at Johns Hopkins [J]. Computer Aided Surgery, 2001, 6(6): 360-369.

5. Masamune K, Fichtinger G, Patriciu A, et al. System for robotically assisted percutaneous procedures with computed tomography guidance[J]. Computer Aided Surgery, 2001, 6(6): 370-383.

Cited by 1 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors;Chinese Journal of Mechanical Engineering;2017-05-18