Title: Development of image-guided puncture robot used in trigeminal neuralgia treatment

Authors: Bin Liu; Hongbo Yang; Kai Guo; Caijun Luo; Chang Liu; Senhao Zhang; Yingying Zhang; Zhenlan Li

Addresses: Division of Life Sciences and Medicine, School of Biomedical Engineering (Suzhou), University of Science and Technology of China, Hefei 230026, China; Rehabilitation Engineering Technology Research Office, Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, No. 88, Keling Road, Suzhou 215163, China ' Division of Life Sciences and Medicine, School of Biomedical Engineering (Suzhou), University of Science and Technology of China, Hefei 230026, China; Rehabilitation Engineering Technology Research Office, Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, No. 88, Keling Road, Suzhou 215163, China ' Division of Life Sciences and Medicine, School of Biomedical Engineering (Suzhou), University of Science and Technology of China, Hefei 230026, China; Rehabilitation Engineering Technology Research Office, Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, No. 88, Keling Road, Suzhou 215163, China ' Rehabilitation Engineering Technology Research Office, Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, No. 88, Keling Road, Suzhou 215163, China ' Rehabilitation Engineering Technology Research Office, Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, No. 88, Keling Road, Suzhou 215163, China ' Rehabilitation Engineering Technology Research Office, Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, No. 88, Keling Road, Suzhou 215163, China ' Rehabilitation Engineering Technology Research Office, Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, No. 88, Keling Road, Suzhou 215163, China ' Rehabilitation Department, First Hospital, Jilin University, 71 Xinmin Street, Chao Yang District, Changchun, 130021, Jilin Province, China

Abstract: Recently, invasive surgery had developed rapidly and was widely used in the fields of tumour treatment, spine and joint disease treatment. At present, most of the analgesic puncture operations were performed manually by doctors in the CT environment. High skills are required during such complex surgery; it also increases the doctors' risk due to exposure to the radiation environment. This paper studies image-guided puncture robots. In this work, through the use of binocular vision cameras, real-time medical image data was collected during the surgery using CT. Also, we setup the model for the spatial solution of the manipulator and integrated with the image data, to make a set of graphical operation interface. Under the guidance of the doctors, the posture of the manipulator was controlled to achieve the specific position required by the doctors. Through the development of software, hardware and algorithm, we designed and developed an image-guided, minimally invasive surgical real-time robotic system to improve the safety and accuracy of the surgeon during the puncture procedure.

Keywords: image-guided; CT-compatible; puncture; surgical robot.

DOI: 10.1504/IJAHUC.2021.119094

International Journal of Ad Hoc and Ubiquitous Computing, 2021 Vol.38 No.1/2/3, pp.141 - 150

Received: 26 Jan 2021
Accepted: 03 Mar 2021
Published online: 22 Nov 2021 *

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