Paper Title:
Estimation Equation of Needle Deflection Based on Dynamics Model in Robot-Assisted Percutaneous Surgery
  Abstract

Aimed to robot-assisted percutaneous surgery, we present an estimation equation to calculate the deflection at needle tip based on dynamics model in this paper. According to the equation, we can use the needle loads to calculate the estimation deflection of needle tip, during needle insertion into soft tissue. Finally, verifying experiments of estimation equation were carried out on a liver. The experimental result shows that the error of equation proposed is small and acceptable. This equation can be used to estimate deflection and direction of needle tip, and can also provide a reference strategy in robot-assisted percutaneous surgery

  Info
Periodical
Advanced Materials Research (Volumes 317-319)
Chapter
Mechatronics
Edited by
Xin Chen
Pages
633-637
DOI
10.4028/www.scientific.net/AMR.317-319.633
Citation
W. Z. Ma, D. M. Wu, Z. J. Du, "Estimation Equation of Needle Deflection Based on Dynamics Model in Robot-Assisted Percutaneous Surgery", Advanced Materials Research, Vols. 317-319, pp. 633-637, 2011
Online since
August 2011
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Price
$32.00
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