Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Feiyan Li, Junsheng Shi Institute of Color and Image Vision Yunnan Normal University

Outline Introduction Motivation Experiment set up Experiment result Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Outline Introduction Motivation Experiment set up Experiment result Conclusion and Future work

Minimally invasive surgery Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Minimally invasive surgery Cancer treatment Cytopathological examination PEIT RFA

Motivation Propose a novel method and modeling for needle insertion Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Motivation Propose a novel method and modeling for needle insertion Develop an integrated needle insertion system for modeling and validation Provide reliable experiment data for robot-assisted percutaneous operation

Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Data Acquisition 1-Acquisition software, 2-Multichannel data conversion card,3-Servo motor controller, 4-Linear guideway(vertical), 5-Connector, 6-Force sensor (ATI Nano-17), 7-Surgical trocar needle, 8-Biopsy sample, 9-Linear guideway(horizontal),10-Power supply

Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Validation System Clinical trials setup in Yunnan First People's Hospital, Kunming, China 1-Surgical instruments, 2-Force sensor and Connector, 3-Data conversion line, 4-Acquisition software, 5-Patient, 6-Puncture devices integration

Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Experiment result Comparison of four fitting models with experimental data: Black- Experimental data, Red- Fourier model,Blue- 2nd Polynomial model, Cyan- Non-linear model,Magenta- Exponent model.

Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Experiment result The complete model of dynamic force

Conclusion The effectiveness of continuous modeling is demonstrated Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Conclusion The effectiveness of continuous modeling is demonstrated The new insertion method(dynamic puncture) is closer to the real operation

Future work Optimize the experiment equipment Dynamic force modeling for robot-assisted percutaneous operation using intraoperative data Future work Optimize the experiment equipment More experiments need to be carried out Simulation of the soft tissue deformation

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