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Teleoperated Puncture Robot System: Preliminary Design and Workspace Analysis

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Abstract

Radiofrequency ablation (RFA) guided by X-ray images aims to relieve herniated disc pain with minimal invasiveness and fast recovery. It requires an accurate and fast positioning of the puncture needle. We propose a teleoperated robotic system for percutaneous puncture to support RFA. We report the kinematics modelling and workspace analysis of the proposed system, which comprises preliminary and accurate positioning mechanisms. Preliminary positioning mechanism automatically drives the needle to the puncture area, and accurate positioning is then achieved by teleoperation under the guidance of X-ray images. We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace. The workspace of the proposed robot system complies with clinical requirements to support RFA.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Bo Hu  (胡 博), Yanping Lin  (林艳萍), Shihang Chen  (陈士行) & Qixin Cao  (曹其新)

  2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, 200240, China

    Yanping Lin  (林艳萍) & Qixin Cao  (曹其新)

  3. Department of Orthopedics, Shanghai General Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, 200080, China

    Fang Wang  (汪 方) & Xiaojun Ma  (马小军)

Authors
  1. Bo Hu  (胡 博)
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  2. Yanping Lin  (林艳萍)
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  3. Shihang Chen  (陈士行)
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  4. Fang Wang  (汪 方)
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  5. Xiaojun Ma  (马小军)
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  6. Qixin Cao  (曹其新)
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Corresponding author

Correspondence to Yanping Lin  (林艳萍).

Additional information

Foundation item: the National Natural Science Foundation of China (No. 51575343)

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Hu, B., Lin, Y., Chen, S. et al. Teleoperated Puncture Robot System: Preliminary Design and Workspace Analysis. J. Shanghai Jiaotong Univ. (Sci.) 27, 15–23 (2022). https://doi.org/10.1007/s12204-021-2368-3

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  • DOI: https://doi.org/10.1007/s12204-021-2368-3

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