TY - JOUR
T1 - Interventional robot system THMR-I and its clinical application
AU - Xiong, Jing
AU - Chen, Ken
AU - Yang, Xiangdong
AU - Liu, Shaoli
AU - Feng, Tao
AU - Liang, Ping
PY - 2009/12
Y1 - 2009/12
N2 - To realize the robot-assisted interventional therapy procedure consisting of image guiding, active positioning and assisted puncturing, and according to the characteristics of the clinical interventional therapy, an interventional robot system THMR-I is designed, with the clinical reliability and safety being considered especially. The robot realizes the wide angle active locating through a 5-degree-of-freedom mechanism. This paper describes its inverse kinematics based on the clinical environment, and analyses the components of system errors. The mapping between the robot and the tracking unit is constructed, and based on this, the collaborative working of the robot subsystem and the image navigation subsystem is realized. The accuracy experiments verify that the robot subsystem can realize the required accuracy for clinical celiac puncture with a sufficient allowance. The THMR-I has been successfully used in the clinical cyst puncture surgeries, which verifies its reliability, safety, validity, and accuracy.
AB - To realize the robot-assisted interventional therapy procedure consisting of image guiding, active positioning and assisted puncturing, and according to the characteristics of the clinical interventional therapy, an interventional robot system THMR-I is designed, with the clinical reliability and safety being considered especially. The robot realizes the wide angle active locating through a 5-degree-of-freedom mechanism. This paper describes its inverse kinematics based on the clinical environment, and analyses the components of system errors. The mapping between the robot and the tracking unit is constructed, and based on this, the collaborative working of the robot subsystem and the image navigation subsystem is realized. The accuracy experiments verify that the robot subsystem can realize the required accuracy for clinical celiac puncture with a sufficient allowance. The THMR-I has been successfully used in the clinical cyst puncture surgeries, which verifies its reliability, safety, validity, and accuracy.
KW - Accuracy
KW - Clinical application
KW - Interventional robot
KW - Kinematics
KW - Reliability
UR - http://www.scopus.com/inward/record.url?scp=74249091667&partnerID=8YFLogxK
U2 - 10.3772/j.issn.1002-0470.2009.12.013
DO - 10.3772/j.issn.1002-0470.2009.12.013
M3 - Article
AN - SCOPUS:74249091667
SN - 1002-0470
VL - 19
SP - 1281
EP - 1287
JO - Gaojishu Tongxin/High Technology Letters
JF - Gaojishu Tongxin/High Technology Letters
IS - 12
ER -