TY - JOUR
T1 - Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System
AU - Cui, Tengfei
AU - Wang, Yonggui
AU - Duan, Xingguang
AU - Ma, Xiaodong
N1 - Publisher Copyright:
© 2019 Tengfei Cui et al.
PY - 2019
Y1 - 2019
N2 - Since the intricate anatomical structure of the craniomaxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely of high risk and difficult to implement. The puncturing operations for biopsy, ablation, and brachytherapy have become vital method for disease diagnosis and treatment. Therefore, a craniomaxillofacial surgery robot system was developed to achieve accurate positioning of the puncture needle and automatic surgical operation. Master-salve control and "kinematic + optics" hybrid automatic motion control based on navigation system, which is proposed in order to improve the needle positioning accuracy, were implemented for different processes of the operation. In addition, the kinematic simulation, kinematic parameters identification, positioning accuracy experiment (0.56 ± 0.21 mm), and phantom experiments (1.42 ± 0.33 mm, 1.62 ± 0.26 mm, and 1.41 ± 0.30 mm for biopsy, radiofrequency, and brachytherapy of phantom experiments) were conducted to verify the feasibility of the hybrid automatic control method and evaluate the function of the surgical robot system.
AB - Since the intricate anatomical structure of the craniomaxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely of high risk and difficult to implement. The puncturing operations for biopsy, ablation, and brachytherapy have become vital method for disease diagnosis and treatment. Therefore, a craniomaxillofacial surgery robot system was developed to achieve accurate positioning of the puncture needle and automatic surgical operation. Master-salve control and "kinematic + optics" hybrid automatic motion control based on navigation system, which is proposed in order to improve the needle positioning accuracy, were implemented for different processes of the operation. In addition, the kinematic simulation, kinematic parameters identification, positioning accuracy experiment (0.56 ± 0.21 mm), and phantom experiments (1.42 ± 0.33 mm, 1.62 ± 0.26 mm, and 1.41 ± 0.30 mm for biopsy, radiofrequency, and brachytherapy of phantom experiments) were conducted to verify the feasibility of the hybrid automatic control method and evaluate the function of the surgical robot system.
UR - http://www.scopus.com/inward/record.url?scp=85064255775&partnerID=8YFLogxK
U2 - 10.1155/2019/4853046
DO - 10.1155/2019/4853046
M3 - Article
AN - SCOPUS:85064255775
SN - 1024-123X
VL - 2019
JO - Mathematical Problems in Engineering
JF - Mathematical Problems in Engineering
M1 - 4853046
ER -