Experimental study of robotic needle insertion in soft tissue

被引：24

作者：

Abolhassani, N ^{[1
]}

Patel, R ^{[1
]}

Moallem, M ^{[1
]}

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 5B9, Canada

来源：

CARS 2004: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS | 2004年 / 1268卷

关键词：

needle insertion; robot; force and torque; friction; tissue indentation;

D O I：

10.1016/j.ics.2004.03.110

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In the procedures that involve needle insertion such as prostate brachytherapy, it is important to reduce tissue deformation before puncture and during insertion. In order to reduce this deformation, we have studied the effect of axial rotation of the needle during insertion. Different methods for rotational motion were compared and the results show that axial rotation can reduce frictional forces as well as tissue indentation before puncturing. (C) 2004 CARS and Elsevier B.V. All rights reserved.

引用

页码：797 / 802

页数：6

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