An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

• Published in: High technology letters Vol. 16; no. 3; pp. 306 - 310
• Main Author: Sun Yinshan Wu Dongmei Du Zhijiang Sun Lining
• Format: Journal Article
• Language: English
• Published: State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,P.R.China 01.09.2010
• Subjects: 2自由度; 外科手术; 机器人手臂; 自动补偿算法; 自由度机器人; 转动坐标系; needle tip displacementcompensation; virtual remote center of motion (VRCM); remote center of motion (RCM); robot-assisted percutaneous surgery; needle insertion robot; medical robot
• ISSN: 1006-6748
• DOI: 10.3772/j.issn.1006-6748.2010.03.014

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.