摘要
由一名新闻记者兼机器人与机器学习的新闻编辑每日新闻-一项关于机器人的新研究现在开始了。据新华社驻澳门记者报道，“经皮穿刺是肿瘤诊断和治疗中常用的一种方法，如活检和消融手术，而患者呼吸运动对胸腔和腹腔器官有明显影响。”本文首次研制了具有呼吸运动的机器人穿刺系统。它可以模拟呼吸循环过程中体表和内脏器官的不同运动。本研究经费来源于国家自然科学基金(NSFC)。作者引用澳门大学的研究成果，提出了一种力位混合控制框架，包括吸气结束时沿计划路径插入NE针，在其他阶段根据相互作用力感知进行呼吸运动，吸气结束时只需进行一次CT扫描，此外，为了避免组织撕裂损伤，机器人针在跟随呼吸运动时在针插入点处引入虚拟RCM约束，为了更好地补偿呼吸运动，提出了一种基于最大NE-组织相互作用力、呼吸跟随位移率和超调位移/力的导纳控制优化方法。
Abstract
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.”
NETL
NSTL