Experimental and numerical analysis of novel 9-DOF robotic manipulator for computed tomography guided medical procedure

One of the most common procedures implemented in the diagnosis of cancer and tumour is percutaneous biopsy under Computed Tomography (CT) image guidance. A 9-DOF hybrid redundant fully actuated robotic manipulator with a novel arc and train design is developed the retrieval of suspected tissue for b...

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Bibliographic Details
Published inScientia Iranica. Transaction B, Mechanical engineering Vol. 31; no. 8; pp. 619 - 631
Main Authors Shah, Sh Kamlesh, Mishra, R
Format Journal Article
LanguageEnglish
Published Tehran Sharif University of Technology 18.05.2024
Subjects
Actuators
Automation
Biopsy
Computed tomography
Controllers
Deep learning
Degrees of freedom
Design
Design standards
Deviation
Human performance
Intervention
Inverse kinematics
Kinematics
Manipulators
Mathematical models
Navigation systems
Numerical analysis
Parameter identification
Position sensing
Robot arms
Robot dynamics
Robotics
Robots
Simulation
Tomography
Trajectory analysis
Velocity
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Summary:One of the most common procedures implemented in the diagnosis of cancer and tumour is percutaneous biopsy under Computed Tomography (CT) image guidance. A 9-DOF hybrid redundant fully actuated robotic manipulator with a novel arc and train design is developed the retrieval of suspected tissue for biopsy procedure under CT guidance. The mathematical model of the robotic manipulator is formulated using standard DH convention. Inverse kinematics of the novel arc and train structure for CT bed mountability is also derived in this research. 3D-CAD model of the robot is developed and compared with the CT machine and a human model in SolidWorks 201 simulation is performed using MATLAB. A dual camera system and the actuator's internal position sensors are used to obtain and plot the robot's deviation analysis from the goal during experimentation. Actuator sensor data is plotted against the required profile in order to determine the causes of the deviation and assess the positional trajectory and velocity trajectory profile. The deviations in position in the range of 3 to 3.5 mm in each of X, Y, or Z axes and the variance in the angle is between 0.4 and 0.55 degrees. It performed amicably under simulated laboratory conditions.
DOI:10.24200/sci.2024.58941.5984