Pulmonary puncture surgery robot system and master-slave control study

Yaruo Zeng; Yifa Sheng

doi:10.1117/12.3011233

1 December 2023 Pulmonary puncture surgery robot system and master-slave control study

Yaruo Zeng, Yifa Sheng

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401N (2023) https://doi.org/10.1117/12.3011233
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

Traditional lung puncture surgery requires a very high level of experience and operational proficiency from the surgeon, and a slight inadvertence during the procedure can cause irreversible damage to the patient's lungs. At the same time, long-term exposure to X-ray radiation in the surgical CT room can cause significant radiation dose overload injuries to the surgeon. To address the above problems, this paper designs a novel robotic system for lung puncture surgery and investigates it for master-slave control. First, a mechanism that can deliver multiple medical devices simultaneously is proposed to enable rotation, delivery, clamping, and bending control of the medical devices; second, a method to manipulate the surgical robot using a touch panel is proposed; and finally, a combination of convolutional neural network and image processing is used to assist in controlling the automatic rotation of the endoscope to reduce the complexity of the surgery. The final animal experiment of the paper verifies the feasibility of the robot.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yaruo Zeng and Yifa Sheng "Pulmonary puncture surgery robot system and master-slave control study", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401N (1 December 2023); https://doi.org/10.1117/12.3011233

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