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Modeling and Analysis of Prostate Soft Tissue Puncture Performance using Puncture Needle. Appl Bionics Biomech 2022. [DOI: 10.1155/2022/6110482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/04/2022] Open
Abstract
When treating prostate cancer, the use of puncture robots is an effective method to perform radioactive seed implantation surgery. However, when the puncture needle enters the lesion, the soft tissue is easily deformed owing to the complex force between the puncture needle and soft tissue, which leads to a puncture deviation between the needle tip and target point. To solve this problem effectively, the prostate soft tissue puncture process is studied based on the analysis of the puncture needle–soft tissue interaction. First, the puncture force is classified into contact, friction, and cutting forces by a quantitative decomposition method, and the corresponding force model is established. Based on the theoretical analysis of the model, it is deduced that these factors can affect the deformation created by puncturing the soft tissue. Subsequently, a puncture platform is built and many biomimetic soft tissue models are established. Multiple puncture experiments on the influencing factors are conducted using the method of controlling a single variable. Using the spatial puncture deviation as the test metrics, the significance of the influencing factors of the puncture deformation is verified. Finally, it can be concluded from the experimental analysis that the main factor that affects the puncture deviation is the puncture speed, whereas the puncture depth has no significant influence. The puncture speed was optimized and verified by experiments, and the results showed that a stable puncture accuracy under different puncture depths can be obtained by selecting an optimized puncture speed (12.6 mm/s). This work provides a design reference to study the positioning accuracy of minimally invasive puncture surgery.
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Li B, Yuan L, Wang C, Guo Y. Structural design and analysis of pneumatic prostate seed implantation robot applied in magnetic resonance imaging environment. Int J Med Robot 2022; 18:e2457. [DOI: 10.1002/rcs.2457] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/14/2022] [Revised: 05/15/2022] [Accepted: 08/31/2022] [Indexed: 11/08/2022]
Affiliation(s)
- Bing Li
- School of Mechanical Power Engineering Harbin University of Science and Technology Harbin Heilongjiang China
| | - Lipeng Yuan
- School of Mechanical Engineering Harbin Institute of Technology Harbin Heilongjiang China
| | - Chunbo Wang
- Department of Dermatology Helen People's Hospital Suihua Heilongjiang China
| | - Yuhang Guo
- School of Mechanical Power Engineering Harbin University of Science and Technology Harbin Heilongjiang China
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Wu K, Zhang Y. Design and experimental research of hand-eye coordination control system for acupuncture robot. J MECH MED BIOL 2022. [DOI: 10.1142/s0219519422500580] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
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Buyun W, Yi L, Dezhang X, Yongde Z, Yong X. Design of a seed implantation robot with counterbalance and soft tissue stabilization mechanism for prostate cancer brachytherapy. INT J ADV ROBOT SYST 2021. [DOI: 10.1177/17298814211040687] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Abstract
This article focuses on the topic of the structural design of surgical radioactive surgery robot for prostate cancer. To improve the weight-to-payload ratio of surgery robot end-effector, the energy consumption and stability of robot joint drive and reducing the displacement and deformation of needle insertion in soft tissue. This article discusses the new static torque balancing method and multi-needle insertion soft tissue stabilization mechanisms that may be used in previously articulated seed implantation robots. Compared with the existing balancing system schemes, we adopt the idea of mutual conversion of gravitational potential energy and elastic potential energy and establish a static balancing model. With preloaded displacement parameter of the spring α, the variable gravity torque balance of robot arm can be achieved. Torque and equivalent gravity balancing distribution with the spring balance system and the quantitative evaluation experiment were performed, and experiment results provide evidence that these spring balance devices can basically compensate the gravity torque of the robot arm. In addition, we used nonlinear spring–damper model to establish multi-needles insertion soft tissue force model. Then, a variable multi-needle insertion soft tissue stabilization device is designed with six working modes. The innovative design of this device is the use of the first four needles that are introduced simultaneously on either side of the midline. Initially completed displacement simulation of different numbers of needle insertion prostate tissue, experiment results indicate that multi-needle puncture mechanism could reduce prostate displacement in the y- or z-direction. By this method, the prostate may be fixed, thus this mechanism maybe reduces rotation of the prostate and enabling subsequent needles to be inserted accurately.
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Affiliation(s)
- Wang Buyun
- School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China
- Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Wuhu, China
| | - Liang Yi
- School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China
- Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Wuhu, China
| | - Xu Dezhang
- School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China
- Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Wuhu, China
| | - Zhang Yongde
- Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China
| | - Xu Yong
- Department of urology, The General Hospital of Chinese People’s Liberation Army, Beijing, China
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A Novel Non-Isotonic Statistical Bivariate Regression Method—Application to Stratigraphic Data Modeling and Interpolation. MATHEMATICAL AND COMPUTATIONAL APPLICATIONS 2020. [DOI: 10.3390/mca25010015] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/25/2023]
Abstract
The present paper deals with nonlinear, non-monotonic data regression. This paper introduces an efficient algorithm to perform data transformation from non-monotonic to monotonic to be paired with a statistical bivariate regression method. The proposed algorithm is applied to a number of synthetic and real-world non-monotonic data sets to test its effectiveness. The proposed novel non-isotonic regression algorithm is also applied to a collection of data about strontium isotope stratigraphy and compared to a LOWESS regression tool.
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