Master-slave robotic system for needle indentation and insertion. (31st October 2017)

• Record Type: Journal Article
• Authors: Shin, Jaehyun; Zhong, Yongmin; Gu, Chengfan
• Is Part Of: Computer assisted surgery. Volume 22(2017)Supplement 1
• Page Start: 100
• Page End: 105
• Publication Date: 2017-10-31
• Subjects: Needle indentation -- needle insertion -- master-slave robot -- haptic characterization; Computer-assisted surgery -- Periodicals
• DOI: 10.1080/24699322.2017.1379236
• Languages: English
• ISSNs: 2469-9322

Abstract

Abstract: Bilateral control of a master-slave robotic system is a challenging issue in robotic-assisted minimally invasive surgery. It requires the knowledge on contact interaction between a surgical (slave) robot and soft tissues. This paper presents a master-slave robotic system for needle indentation and insertion. This master-slave robotic system is able to characterize the contact interaction between the robotic needle and soft tissues. A bilateral controller is implemented using a linear motor for robotic needle indentation and insertion. A new nonlinear state observer is developed to online monitor the contact interaction with soft tissues. Experimental results demonstrate the efficacy of the proposed master-slave robotic system for robotic needle indentation and needle insertion.