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Alternative TitleRobot-assisted oblique-tip flexible needle puncture system and method
韩建达; 赵新刚; 霍本岩
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a robot-assisted oblique-tip flexible needle puncture system and method. The method comprises the following steps: obtaining the position of a puncture platform and a puncture path through preoperative planning; moving a positioning mechanism to a specified position and locking the positioning mechanism, and controlling a puncture mechanism to enable a flexible needle to reach a penetration point of puncture; puncturing according to the planned puncture path; optimizing, by a path planning module, the puncture path of the flexible needle on line in real time according to flexible needle tip position information, attitude information and a puncture region tissue image fed back by a three-dimensional electromagnetic positioning sensor and a C-shaped arm in the puncture process; correcting the flexible needle by a controller according to a real-time on-line optimization strategy of the path planning module; ending the puncture process after the puncture needle reaches a target position. According to the method and the device, the position of the needle tip can be obtained in real time, the stress of the needle tip is obtained in real time, the puncture strategy is corrected on line according to tissue deformation to guarantee that the oblique-tip flexible needle can bypass an unpuncturable region to accurately reach a focus, and the puncture process is put under the monitoring of a doctor to guarantee the safety of the puncture surgery.
PCT Attributes
Application Date2013-06-27
Date Available2016-09-07
Application NumberCN201310272906.4
Open (Notice) NumberCN104248471B
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
韩建达,赵新刚,霍本岩. 一种机器人辅助斜尖柔性针穿刺系统及方法[P]. 2014-12-31.
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