{"title":"平行缆索驱动前列腺穿刺机器人：设计与性能评估","authors":"Yupeng Zou, Tianyu Lan, Yanxing Zhang, Xiaojing Lai, Zhishen Zhou, Changsheng Li","doi":"10.1002/rcs.70102","DOIUrl":null,"url":null,"abstract":"<div>\n \n \n <section>\n \n <h3> Background</h3>\n \n <p>The limited workspace and strong magnetic field inside MRI challenge the design of the prostate puncture robot. Simplifying the robot's structure is crucial.</p>\n </section>\n \n <section>\n \n <h3> Methods</h3>\n \n <p>This paper proposes a parallel cable-driven (PCD) prostate puncture robot, and conducts a preliminary material design. The kinematics, statics and stiffness models of the robot are established. The wrench-feasible workspace is also verified. Multibody simulation is used to analyse the robot's performance.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>Motion accuracy experiments were conducted in both planar and spatial configurations, followed by stiffness performance evaluation. During the phantom puncture experiment, the insertion point exhibited horizontal position errors of 0.35 mm and 0.4 mm.</p>\n </section>\n \n <section>\n \n <h3> Conclusion</h3>\n \n <p>The non-parallel cable-driven design not only simplifies the robotic structure for prostate puncture surgery but also ensures compatibility with strong magnetic fields. Furthermore, the robot exhibits high motion accuracy and superior stiffness performance.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 5","pages":""},"PeriodicalIF":2.1000,"publicationDate":"2025-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Parallel Cable-Driven Prostate Puncture Robot: Design and Performance Evaluation\",\"authors\":\"Yupeng Zou, Tianyu Lan, Yanxing Zhang, Xiaojing Lai, Zhishen Zhou, Changsheng Li\",\"doi\":\"10.1002/rcs.70102\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n \\n <section>\\n \\n <h3> Background</h3>\\n \\n <p>The limited workspace and strong magnetic field inside MRI challenge the design of the prostate puncture robot. Simplifying the robot's structure is crucial.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Methods</h3>\\n \\n <p>This paper proposes a parallel cable-driven (PCD) prostate puncture robot, and conducts a preliminary material design. The kinematics, statics and stiffness models of the robot are established. The wrench-feasible workspace is also verified. Multibody simulation is used to analyse the robot's performance.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Results</h3>\\n \\n <p>Motion accuracy experiments were conducted in both planar and spatial configurations, followed by stiffness performance evaluation. During the phantom puncture experiment, the insertion point exhibited horizontal position errors of 0.35 mm and 0.4 mm.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Conclusion</h3>\\n \\n <p>The non-parallel cable-driven design not only simplifies the robotic structure for prostate puncture surgery but also ensures compatibility with strong magnetic fields. Furthermore, the robot exhibits high motion accuracy and superior stiffness performance.</p>\\n </section>\\n </div>\",\"PeriodicalId\":50311,\"journal\":{\"name\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"volume\":\"21 5\",\"pages\":\"\"},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2025-09-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"FirstCategoryId\":\"3\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70102\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"SURGERY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Medical Robotics and Computer Assisted Surgery","FirstCategoryId":"3","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70102","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"SURGERY","Score":null,"Total":0}
Parallel Cable-Driven Prostate Puncture Robot: Design and Performance Evaluation
Background
The limited workspace and strong magnetic field inside MRI challenge the design of the prostate puncture robot. Simplifying the robot's structure is crucial.
Methods
This paper proposes a parallel cable-driven (PCD) prostate puncture robot, and conducts a preliminary material design. The kinematics, statics and stiffness models of the robot are established. The wrench-feasible workspace is also verified. Multibody simulation is used to analyse the robot's performance.
Results
Motion accuracy experiments were conducted in both planar and spatial configurations, followed by stiffness performance evaluation. During the phantom puncture experiment, the insertion point exhibited horizontal position errors of 0.35 mm and 0.4 mm.
Conclusion
The non-parallel cable-driven design not only simplifies the robotic structure for prostate puncture surgery but also ensures compatibility with strong magnetic fields. Furthermore, the robot exhibits high motion accuracy and superior stiffness performance.
期刊介绍：
The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.
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