Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Feiyan Li, Junsheng Shi
Institute of Color and Image Vision
Yunnan Normal University
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Outline
Introduction
Motivation
Experiment set up
Experiment result
Conclusion and Future work
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Minimally
invasive surgery
Cancer
treatment
PEIT
RFA
Cytopathological
examination
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Propose a novel method and
modeling for needle insertion
Motivation
Develop an integrated needle insertion
system for modeling and validation
Provide reliable experiment data for
robot-assisted percutaneous operation
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Data Acquisition
1-Acquisition software, 2-Multichannel data conversion card,3-Servo motor
controller, 4-Linear guideway(vertical), 5-Connector, 6-Force sensor
(ATI Nano-17), 7-Surgical trocar needle, 8-Biopsy sample, 9-Linear
guideway(horizontal),10-Power supply
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Validation System
Clinical trials setup in Yunnan First People's Hospital, Kunming, China
1-Surgical instruments, 2-Force sensor and Connector, 3-Data conversion line,
4-Acquisition software, 5-Patient, 6-Puncture devices integration
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Experiment result
Comparison of four fitting models with experimental data: Black- Experimental data,
Red- Fourier model,Blue- 2nd Polynomial model, Cyan- Non-linear model,MagentaExponent model.
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Experiment result
The complete model of dynamic force
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Conclusion
The effectiveness of continuous modeling is demonstrated
The new insertion method(dynamic puncture) is closer to
the real operation
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Future work
Optimize the experiment equipment
More experiments need to be carried out
Simulation of the soft tissue deformation
Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Thank you !