Design and Implementation of A Novel 4-DoF Robot for Assisted Needle Puncture Deployment

摘要

The robot-assisted minimally invasive percutaneous biopsy has improved the accuracy and speed of the puncture operation. However, currently available robot systems used in interventional surgery are relatively large in size or complex to control, making them difficult to be used in practices. As an improvement to current robot-assisted puncture systems, a compact four degree of freedom (DoF) punctuation needle deployment robot has been designed and corresponding kinematic model has been established. A first-generation prototype has been constructed to evaluate accuracy of the punctuation catheter orientation control. The experimental results show that the robot’s orientation control error is less than 0.4°. Conclusively, the developed robot system demonstrates promising ability to accurately assist and guide surgeons in minimally invasive percutaneous biopsy.