Estimation Equation of Needle Deflection Based on Dynamics Model in Robot-Assisted Percutaneous Surgery

Abstract:

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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)

Edited by:

Xin Chen

Pages:

633-637

DOI:

10.4028/www.scientific.net/AMR.317-319.633

Citation:

W. Z. Ma et al., "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:

$35.00

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