一种新型插针工具的设计与表征

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI:10.1109/BIOROB.2016.7523636

O. Piccin, J. Sieffert, F. Schmitt, L. Barbé, L. Meylheuc, F. Nageotte, B. Bayle

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引用次数: 3

摘要

机器人辅助在介入放射学中不断发展。最近一些用于治疗计划和针头自动定位的商业系统的出现甚至促进了这一发展。在本文中，我们专注于设计一种专用于针操作的设备，这是现有系统中不包括的功能。这个装置是一种工具，可以适应现有的机器人，使他们能够抓住和插入针。它结构紧凑，主要由聚合物部件构成，以应对x射线成像的限制。该装置的每个子系统都是单独提出的，并对系统进行了评估，以表征针头插入，力测量和抓取能力。

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Design and characterization of a novel needle insertion tool

Robotized assistance has been developing constantly in interventional radiology. The recent availability of several commercial systems for treatment planning and needle automatic positioning has even boosted this development. In this paper, we focus on the design of a device dedicated to needle manipulation, a function not included in the available systems. This device is a tool which could be adapted to existing robots, in order to enable them to grasp and insert needles. It is compact and mostly built from polymer parts to cope with the constraints of X-Ray imaging. Each subsystem of the device is separately presented and the system is assessed in order to characterize needle insertion, force measurement, and grasping capabilities.

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来源期刊

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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