An Uncalibrated and Accurate Robotic Puncture Method Under Respiratory Motion

Yan, Biao; Li, Zheng; Cai, Lijing; Zhang, Wenlong; Lin, Yang; Yang, Rongqian

doi:10.1109/jsen.2022.3193049

Cited by 4 publications

(4 citation statements)

References 32 publications

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“…Both the median of angular errors and the maximum error value illustrate the high robustness of the proposed angular filtering method. And in the same experimental setting, the angle filtering based on SRUKF in literature 38 took 30 s and resulted in a positioning error of 0.46409° (0.00810 rad), highlighting the high accuracy and low time consumption of the angle filtering method proposed in this paper.…”

Section: Experiments and Resultsmentioning

confidence: 75%

“…It can be observed that the position filtering method we proposed also possesses high robustness. In contrast, the position filtering method proposed in literature 38 took 50 s and had an average error of 0.44580 mm. Our method takes only approximately 13 s, highlighting the advantage of our proposed position filtering method in terms of low processing time and high accuracy.…”

Section: Experiments and Resultsmentioning

confidence: 99%

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A fast, accurate and uncalibrated robotic puncture method

Li,

Wang,

Yan

et al. 2023

Robotics Computer Surgery

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BackgroundRobotic puncture system (RPS) consists of an optical tracking system (OTS) and a robotic arm gripping the puncture needle. Typically, the RPS requires hand‐eye calibration before the surgery in order to obtain the relative position between the OTS and the robotic arm. However, if there is any displacement or angular deviation in either the robotic arm or the OTS, the calibration results become invalid, necessitating recalibration.MethodsWe propose an uncalibrated robotic puncture method that does not rely on the hand‐eye relationship of the RPS. By constructing angle and position graph jacobian matrices respectively, and employing Square Root Cubature Kalman Filter for online estimation. This enables obtaining control variables for the robot to perform puncture operations.ResultsIn simulation experiments, our method achieves an average error of 1.3495 mm and an average time consumption of 39.331 s.ConclusionsExperimental results indicate that our method possesses high accuracy, low time consumption, and strong robustness.

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Section: Experiments and Resultsmentioning

confidence: 75%

Section: Experiments and Resultsmentioning

confidence: 99%

A fast, accurate and uncalibrated robotic puncture method

Li,

Wang,

Yan

et al. 2023

Robotics Computer Surgery

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“…Yan et al [ 100 ] proposed an uncalibrated robotic puncture method based on respiratory motion. This method introduces an efficient approach for the online estimation of the Jacobian matrix using the Square Root Unscented Kalman Filter.…”

Section: Optimization Methods Of Medical Image Navigation Technology ...mentioning

confidence: 99%

Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot

Lü

Zhu

et al. 2023

Sensors

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Microneedle puncture is a standard minimally invasive treatment and surgical method, which is widely used in extracting blood, tissues, and their secretions for pathological examination, needle-puncture-directed drug therapy, local anaesthesia, microwave ablation needle therapy, radiotherapy, and other procedures. The use of robots for microneedle puncture has become a worldwide research hotspot, and medical imaging navigation technology plays an essential role in preoperative robotic puncture path planning, intraoperative assisted puncture, and surgical efficacy detection. This paper introduces medical imaging technology and minimally invasive puncture robots, reviews the current status of research on the application of medical imaging navigation technology in minimally invasive puncture robots, and points out its future development trends and challenges.

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“…In thoracic and abdominal puncture surgery, a robotic puncture system (RPS) has the advantages of accurate positioning, flexible movement, and stable operation, and various tissue biopsy diagnosis and surgical scenarios can produce more significant therapeutic impacts. Due to the characteristics of rapid speed, short cycle, and multi-dimensional displacement, respiratory movement may lead to systematic deviation of the target area of thoracoabdominal puncture and affect the therapeutic effect [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

Current Research Status of Respiratory Motion for Thorax and Abdominal Treatment: A Systematic Review

Wu,

Wang,

Chu

et al. 2024

Biomimetics

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Malignant tumors have become one of the serious public health problems in human safety and health, among which the chest and abdomen diseases account for the largest proportion. Early diagnosis and treatment can effectively improve the survival rate of patients. However, respiratory motion in the chest and abdomen can lead to uncertainty in the shape, volume, and location of the tumor, making treatment of the chest and abdomen difficult. Therefore, compensation for respiratory motion is very important in clinical treatment. The purpose of this review was to discuss the research and development of respiratory movement monitoring and prediction in thoracic and abdominal surgery, as well as introduce the current research status. The integration of modern respiratory motion compensation technology with advanced sensor detection technology, medical-image-guided therapy, and artificial intelligence technology is discussed and analyzed. The future research direction of intraoperative thoracic and abdominal respiratory motion compensation should be non-invasive, non-contact, use a low dose, and involve intelligent development. The complexity of the surgical environment, the constraints on the accuracy of existing image guidance devices, and the latency of data transmission are all present technical challenges.

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An Uncalibrated and Accurate Robotic Puncture Method Under Respiratory Motion

Cited by 4 publications

References 32 publications

A fast, accurate and uncalibrated robotic puncture method

A fast, accurate and uncalibrated robotic puncture method

Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot

Current Research Status of Respiratory Motion for Thorax and Abdominal Treatment: A Systematic Review

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