Reliability Analysis of MRI-guided Surgical Robot for Brachytherapy

Zhang, Zhen; Jiang, Shan; Sun, Fude; Yan, Yu

doi:10.1007/978-3-642-29305-4_569

Cited by 3 publications

(2 citation statements)

References 6 publications

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“…These results are consistent with those found in the literature [25]. Therefore, it is plausible to equate the state changes of the parallel system and the voting system to multiple series systems operating successively.…”

Section: Cold Preparedness Equivalent Modelssupporting

confidence: 92%

Reliability and Residual Life of Cold Standby Systems

Liu,

Ai,

2024

Mathematics

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In this study, we conduct a reliability characterisation study of cold standby systems. Utilising synthetic rectangular formulas and cold preparedness equivalent models for cold standby systems, we analyse the lifetimes of several typical configurations, including series, parallel, and k/n:m voting systems. This study proposes system equivalent models for various types of cold standby systems, all composed of components that follow the same exponential distribution. We use the equivalent model to determine the optimal timing for the use of cold spares and derive the reliability function and residual lifetime function for each type of system. To demonstrate the validity of our model, the Monte Carlo simulation is strategically designed based on the system failure rate function. The experimental results are then compared with those obtained from the numerical model, highlighting that the numerical method incurs a lower time cost.

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Section: Cold Preparedness Equivalent Modelssupporting

confidence: 92%

Reliability and Residual Life of Cold Standby Systems

Liu,

Ai,

2024

Mathematics

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“…The use of robots in surgery offers high positioning accuracy, good movement stability, dexterity, and strong continuous working ability, in addition to less trauma to patients and quick postoperative recovery [12]. The authors in [13][14][15][16] describe a rectangular coordinate structure that offers easier seed placement in a directional manner with the help of guide template. The authors of [17][18][19] adopt a parallel structure, wherein the puncture needle can be adjusted in such a way that offers smooth entry without the assistance of a guiding template.…”

mentioning

confidence: 99%

Study on the Low Velocity Stability of a Prostate Seed Implantation Robot’s Rotatory Joint

Zhang

Liu

et al. 2020

Electronics

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Prostate cancer has one of the highest incidences of male malignant tumors worldwide. Its treatment involves the robotic implantation of radioactive seeds in the perineum, a safe and effective procedure for early, low-risk prostate cancer. In order to ensure precise positioning, the seed implantation needle is set at low terminal velocity. In this paper, the motion output position instability caused by the friction torque of the robot’s motor and rotating joint during low velocity motion was analyzed and studied. This paper also presents a compensation control method based on the LuGre friction model, which offers piecewise parameter identification with GA-PSO. First, based on an analysis of its structure and working principle, the friction torque model of the robotic system and the torque model of the driving motor are established, and the influence of friction torque on motion stability analyzed. Then, based on experimental data of the relationship between velocity and friction torque for no-friction compensation, the velocity point of the minimum torque of the rotating joint and the critical Stribeck velocity point were used for segmental parameter identification; cubic spline interpolation was used for segmental fitting. Furthermore, on the basis of the LuGre model identification method, parameter identification of the genetic algorithm-particle swarm optimization, and compensation control of the LuGre friction model, a control method is analysed and set forth. Malab2017a/Simulink simulation software was used to simulate and analyze the control method, and verify its feasibility. Finally, the cantilever prostate seed implantation robot system was tested to verify the effectiveness of the segmented identification method and the compensation control strategy. The results reveal that motion output position stability at low velocity meets the requirements of the cantilever prostate seed implantation robot, thus providing a vital reference for further research.

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Design and Analysis of Macro-micro Combined Catheter-guided Robot for Vascular Interventional Surgery

Feng

Yang

et al. 2022

2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3m-Nano)

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Reliability Analysis of MRI-guided Surgical Robot for Brachytherapy

Cited by 3 publications

References 6 publications

Reliability and Residual Life of Cold Standby Systems

Reliability and Residual Life of Cold Standby Systems

Study on the Low Velocity Stability of a Prostate Seed Implantation Robot’s Rotatory Joint

Design and Analysis of Macro-micro Combined Catheter-guided Robot for Vascular Interventional Surgery

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