Teleoperated and Automated Control of a Robotic Tool for Targeted Prostate Biopsy.
Teleoperated and Automated Control of a Robotic Tool for Targeted Prostate Biopsy.
复制标题
用于靶向前列腺活检的机器人工具的远程操作和自动控制。
DOI：
10.1142/s2424905x23400020
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Konh,Bardia
中科院分区：
文献类型：
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作者：
Padasdao,Blayton;Lafreniere,Samuel;Rabiei,Mahsa;Batsaikhan,Zolboo;Konh,Bardia
这项工作提出了一种具有双向操纵和控制能力的机器人工具，用于有针对性的前列腺活检干预。靶向前列腺活检是一种有效的图像引导技术，与系统活检相比，它可以用更少的核心和更少数量的不必要的活检来检测显着的癌症。该机器人工具包括在镍钛诺管上制造的柔性弯曲部分，通过驱动两个内部肌腱实现双向弯曲，以及用于提取组织样本的活检机构。提出了柔顺弯曲部分的运动学和静态模型，以及机器人工具的远程操作和自动控制，并通过实验进行了验证。结果表明，控制器可以迫使机器人工具的尖端在空气中和模型组织内以合理的精度遵循正弦设定点位置。最后，评估机器人工具弯曲、到达模型组织内的目标位置以及提取活检样本的能力。
This work presents a robotic tool with bidirectional manipulation and control capabilities for targeted prostate biopsy interventions. Targeted prostate biopsy is an effective image-guided technique that results in the detection of significant cancer with fewer cores and a lower number of unnecessary biopsies compared to systematic biopsy. The robotic tool comprises a compliant flexure section fabricated on a nitinol tube that enables bidirectional bending via actuation of two internal tendons, and a biopsy mechanism for extraction of tissue samples. The kinematic and static models of the compliant flexure section, as well as teleoperated and automated control of the robotic tool are presented and validated with experiments. It was shown that the controller can force the tip of the robotic tool to follow sinusoidal set-point positions with reasonable accuracy in air and inside a phantom tissue. Finally, the capability of the robotic tool to bend, reach targeted positions inside a phantom tissue, and extract a biopsy sample is evaluated.