A compliant parallel mechanism for needle intervention

This paper presents a compliant mechanism for fine motion of a medical robot for needle intervention procedure. The concept of this mechanism is created with the purpose of correcting a needle axis by translating a main robot for needle driving when an unexpected slip happens in needle insertion. In order to specify the concept, a planar compliant mechanism is designed so that the mechanism has maximized workspace for some given design condition. A simplified mathematical model for the designed mechanism is derived and then a pose controller is designed to track a desired trajectory in a plane, which is a similar situation that the compliant mechanism translates a needle driving robot to correct the direction of a needle. The simulation result shows good tracking performance.

[1]  Conor J. Walsh,et al.  A Patient-Mounted, Telerobotic Tool for CT-Guided Percutaneous , 2008 .

[2]  Stephan Zangos,et al.  Accuracy and speed of robotic assisted needle interventions using a modern cone beam computed tomography intervention suite: a phantom study , 2012, European Radiology.

[3]  Hyo-Jeong Cha,et al.  Implementation of a 4-DOF parallel mechanism as a needle insertion device , 2010, 2010 IEEE International Conference on Robotics and Automation.

[4]  脇元 修一,et al.  IEEE International Conference on Robotics and Automation (ICRA) におけるフルードパワー技術の研究動向 , 2011 .

[5]  Masakatsu G. Fujie,et al.  Development of an integrated needle insertion system with image guidance and deformation simulation , 2010, Comput. Medical Imaging Graph..

[6]  Makoto Hashizume,et al.  Development of a needle insertion manipulator for central venous catheterization , 2012, The international journal of medical robotics + computer assisted surgery : MRCAS.

[7]  M. Cenk Cavusoglu,et al.  Regular Paper Submission for the Ieee Transactions on Mechatronics Design of a Parallel Robot for Needle Based Interventions on Small Animals¨ozkan , 2022 .

[8]  David E. Goldberg,et al.  Genetic algorithms and Machine Learning , 1988, Machine Learning.

[9]  Russell H. Taylor,et al.  A Modular Surgical Robotic System for Image Guided Percutaneous Procedures , 1998, MICCAI.

[10]  M. Hashizume,et al.  Development of Needle Insertion Manipulator for Central Venous Catheterization , 2012 .

[11]  M. Bock,et al.  INNOMOTION for Percutaneous Image-Guided Interventions , 2008, IEEE Engineering in Medicine and Biology Magazine.

[12]  Russell H. Taylor,et al.  Medical robotics in computer-integrated surgery , 2003, IEEE Trans. Robotics Autom..

[13]  Kemal Tuncali,et al.  Design of an Instrument Guide for MRI-Guided Percutaneous Interventions , 2011 .

[14]  Peter Kazanzides,et al.  Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial] , 2008, IEEE Robotics & Automation Magazine.

[15]  Carl D. Crane,et al.  Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism , 2012 .