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

^*此作品的通讯作者

机械工程及自动化学院

Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
出版商	Springer Verlag
页	588-596
页数	9
版本	PART 1
ISBN（印刷版）	3540885129, 9783540885122
DOI	https://doi.org/10.1007/978-3-540-88513-9_63
出版状态	已出版 - 2008
活动	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, 中国期限: 15 10月 2008 → 17 10月 2008

出版系列

姓名	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
编号	PART 1
卷	5314 LNAI
ISSN（印刷版）	0302-9743
ISSN（电子版）	1611-3349

会议

会议	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
国家/地区	中国
市	Wuhan
时期	15/10/08 → 17/10/08

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 3 良好健康与福祉

访问文件

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

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, T., Tang, C., & Liu, D. (2008). A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. 在 Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings (PART 1 编辑, 页码 588-596). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 5314 LNAI, 号码 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. 编辑 Springer Verlag, 2008. 页码 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",

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Wang, T, Tang, C & Liu, D 2008, A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. 在 Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 编辑, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 号码 PART 1, 卷 5314 LNAI, Springer Verlag, 页码 588-596, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Wuhan, 中国, 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. 编辑 Springer Verlag, 2008. 页码 588-596 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 5314 LNAI, 号码 PART 1).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery

AU - Wang, Tianmiao

AU - Tang, Can

AU - Liu, Da

PY - 2008

Y1 - 2008

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

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SN - 3540885129

SN - 9783540885122

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 588

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BT - Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings

PB - Springer Verlag

T2 - 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008

Y2 - 15 October 2008 through 17 October 2008

ER -

Wang T, Tang C, Liu D. A hybrid robot system guided by computer tomography for percutaneous lung cancer cryosurgery. 在 Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 编辑 Springer Verlag. 2008. 页码 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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此