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

2. 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

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

4. 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

5. 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

6. 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

7. 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.

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

9. 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

10. 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

11. Thank you ! Dynamic force modeling for robot-assisted percutaneous
operation using intraoperative data
Thank you !