Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System
Joint Authors
Wang, Yonggui
Duan, Xingguang
Cui, Tengfei
Ma, Xiaodong
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-03-27
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Since the intricate anatomical structure of the craniomaxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely of high risk and difficult to implement.
The puncturing operations for biopsy, ablation, and brachytherapy have become vital method for disease diagnosis and treatment.
Therefore, a craniomaxillofacial surgery robot system was developed to achieve accurate positioning of the puncture needle and automatic surgical operation.
Master-salve control and “kinematic + optics” hybrid automatic motion control based on navigation system, which is proposed in order to improve the needle positioning accuracy, were implemented for different processes of the operation.
In addition, the kinematic simulation, kinematic parameters identification, positioning accuracy experiment (0.56 ± 0.21 mm), and phantom experiments (1.42 ± 0.33 mm, 1.62 ± 0.26 mm, and 1.41 ± 0.30 mm for biopsy, radiofrequency, and brachytherapy of phantom experiments) were conducted to verify the feasibility of the hybrid automatic control method and evaluate the function of the surgical robot system.
American Psychological Association (APA)
Cui, Tengfei& Wang, Yonggui& Duan, Xingguang& Ma, Xiaodong. 2019. Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1195800
Modern Language Association (MLA)
Cui, Tengfei…[et al.]. Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System. Mathematical Problems in Engineering No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1195800
American Medical Association (AMA)
Cui, Tengfei& Wang, Yonggui& Duan, Xingguang& Ma, Xiaodong. Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1195800
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195800