首页|Studies from University of Macau Add New Findings in the Area of Robotics (Force -position Hybrid Control for Robot Assisted Thoracic-abdominal Puncture With Res piratory Movement)
Studies from University of Macau Add New Findings in the Area of Robotics (Force -position Hybrid Control for Robot Assisted Thoracic-abdominal Puncture With Res piratory Movement)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – A new study on Robotics is now availab le. According to news reporting originating from Macau, People’s Republic of Chi na, by NewsRx correspondents, research stated, “Percutaneous puncture is a widel y used procedure in the diagnosis and therapy of cancer such as biopsy and ablat ion operations, while the organs in the thoracic and abdominal cavities are sign ificantly affected by patients’ respiratory movement. In this letter, a robotic puncture system with respiratory movement is firstly developed, which can simula te the different motions of body surface and internal organ during respiratory c ycle.” Financial support for this research came from National Natural Science Foundatio n of China (NSFC). Our news editors obtained a quote from the research from the University of Macau , “Then a forceposition hybrid control framework is proposed, which includes ne edle insertion along the planned path at the end of inspiration and respiratory motion following according to interaction force sensing at the other phases. Sin ce it requires only one CT scan at the end of inspiration, which complies with c linical routine procedures. Furthurmore, to avoid tearing damage of tissue, the robotic needle takes a virtual RCM constraint at the needle insertion point when following the respiratory motion. And for better respiratory motion compensatio n, an admittance control optimization method is proposed based on the maximal ne edle-tissue interaction force, the respiratory following displacement percentage and the overshoot displacement/ force.”
MacauPeople’s Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotRoboticsRobotsUniversity of Macau
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