A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery

Tianmiao Wang; Can Tang; Da Liu

doi:10.1007/978-3-540-88513-9_63

A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery

Tianmiao Wang^*
, Can Tang
, Da Liu

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The common serial robot or parallel robot is difficult to implement CT-guided surgery in the limited workspace. A novel hybrid robot with 9-DOF was presented, detail structures of which were analyzed based on screw theory and Displacement Manifold (DM). The dexterity of hybrid robot was provided in terms of Riemann Manifold (RM). The structure of control system was described. DICOM image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem were analyzed, some new methods used in which were explained. The architecture of CT-guided robot system and its subsystems were put forward. Simulative clinical experimentation showed that the locating precision of hybrid robot arrived at 1.08mm, which can meet the requirement of clinical cryosurgery.

Original language	English
Title of host publication	Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
Publisher	Springer Verlag
Pages	588-596
Number of pages	9
Edition	PART 1
ISBN (Print)	3540885129, 9783540885122
DOIs	https://doi.org/10.1007/978-3-540-88513-9_63
State	Published - 2008
Event	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, China Duration: 15 Oct 2008 → 17 Oct 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	5314 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Country/Territory	China
City	Wuhan
Period	15/10/08 → 17/10/08

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

3D reconstruction
CT-guided surgery
Cryosurgery
Hybrid robot
Operation planning
Riemann Manifold
Screw theory

Access to Document

10.1007/978-3-540-88513-9_63

Cite this

Wang, T., Tang, C., & Liu, D. (2008). A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings (PART 1 ed., pp. 588-596). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1). Springer Verlag. https://doi.org/10.1007/978-3-540-88513-9_63

Wang, Tianmiao ; Tang, Can ; Liu, Da. / A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. pp. 588-596 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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title = "A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery",

abstract = "The common serial robot or parallel robot is difficult to implement CT-guided surgery in the limited workspace. A novel hybrid robot with 9-DOF was presented, detail structures of which were analyzed based on screw theory and Displacement Manifold (DM). The dexterity of hybrid robot was provided in terms of Riemann Manifold (RM). The structure of control system was described. DICOM image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem were analyzed, some new methods used in which were explained. The architecture of CT-guided robot system and its subsystems were put forward. Simulative clinical experimentation showed that the locating precision of hybrid robot arrived at 1.08mm, which can meet the requirement of clinical cryosurgery.",

keywords = "3D reconstruction, CT-guided surgery, Cryosurgery, Hybrid robot, Operation planning, Riemann Manifold, Screw theory",

author = "Tianmiao Wang and Can Tang and Da Liu",

year = "2008",

doi = "10.1007/978-3-540-88513-9\_63",

language = "英语",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",

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note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",

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Wang, T, Tang, C & Liu, D 2008, A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. in Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 5314 LNAI, Springer Verlag, pp. 588-596, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Wuhan, China, 15/10/08. https://doi.org/10.1007/978-3-540-88513-9_63

A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. / Wang, Tianmiao; Tang, Can; Liu, Da.
Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. p. 588-596 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wang, Tianmiao

AU - Tang, Can

AU - Liu, Da

PY - 2008

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N2 - The common serial robot or parallel robot is difficult to implement CT-guided surgery in the limited workspace. A novel hybrid robot with 9-DOF was presented, detail structures of which were analyzed based on screw theory and Displacement Manifold (DM). The dexterity of hybrid robot was provided in terms of Riemann Manifold (RM). The structure of control system was described. DICOM image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem were analyzed, some new methods used in which were explained. The architecture of CT-guided robot system and its subsystems were put forward. Simulative clinical experimentation showed that the locating precision of hybrid robot arrived at 1.08mm, which can meet the requirement of clinical cryosurgery.

AB - The common serial robot or parallel robot is difficult to implement CT-guided surgery in the limited workspace. A novel hybrid robot with 9-DOF was presented, detail structures of which were analyzed based on screw theory and Displacement Manifold (DM). The dexterity of hybrid robot was provided in terms of Riemann Manifold (RM). The structure of control system was described. DICOM image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem were analyzed, some new methods used in which were explained. The architecture of CT-guided robot system and its subsystems were put forward. Simulative clinical experimentation showed that the locating precision of hybrid robot arrived at 1.08mm, which can meet the requirement of clinical cryosurgery.

KW - 3D reconstruction

KW - CT-guided surgery

KW - Cryosurgery

KW - Hybrid robot

KW - Operation planning

KW - Riemann Manifold

KW - Screw theory

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SP - 588

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Wang T, Tang C, Liu D. A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 ed. Springer Verlag. 2008. p. 588-596. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-540-88513-9_63

A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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