Intelligent Machinery Research Institute, Harbin University of Science and Technology, Harbin, China.
The Chinese University of Hong Kong, Hong Kong, China.
Int J Med Robot. 2021 Apr;17(2):e2200. doi: 10.1002/rcs.2200. Epub 2020 Nov 16.
The application of minimally invasive interventional breast surgery is becoming more and more widespread. The accurate puncture of breast cancer needs to solve the problems of tissue deformation and target displacement.
In this study, we analysed the process of leech blood absorption and developed a robotic needle insertion method based on bionic technology to improve the accuracy of breast cancer diagnosis and treatment. Among them, the design purpose of the sucker manipulator is to adjust and fix the breast tissue. We use uncalibrated visual servo to control soft tissue deformation.
We compare the puncture effect of bionic needle puncture robot and common needle puncture on breast prosthesis and in vitro tissue. Experimental data shows that, compared with ordinary needle insertion, the robotic needle insertion method based on bionic technology greatly reduces the targeting error.
This method is expected to provide a safe and effective alternative to traditional puncture for breast cancer diagnosis and treatment.
微创介入性乳房手术的应用越来越广泛。要实现乳腺癌的精准穿刺，需要解决组织变形和目标位移的问题。
本研究分析了水蛭吸血过程，并开发了一种基于仿生技术的机器人针插入方法，以提高乳腺癌诊断和治疗的准确性。其中，吸盘机械手的设计目的是调整和固定乳房组织。我们使用未校准的视觉伺服来控制软组织变形。
我们比较了仿生针穿刺机器人和普通针穿刺对乳房假体和体外组织的穿刺效果。实验数据表明，与普通针插入相比，基于仿生技术的机器人针插入方法大大降低了靶向误差。
该方法有望为乳腺癌的诊断和治疗提供一种安全有效的替代传统穿刺的方法。
