Department of Biomedical Engineering, National Cheng Kung University, Tainan, Taiwan.
Brain Navi Biotechnology Co. Ltd, Zhubei, Hsinchu Country, Taiwan.
J Healthc Eng. 2022 Feb 16;2022:3362495. doi: 10.1155/2022/3362495. eCollection 2022.
Ultrasound (US) imaging system is widely used in robotic systems for precision positioning in clinical applications. The US calibration is critical to minimize the difference of spatial coordinates between instruments, for minimally invasive surgery (MIS) in navigation systems. In this study, we propose a dual robotic arm system that combines US imaging with one arm for path planning and monitoring and accurate positioning with the other arm for instrument placement via the preplanning procedures. A phantom with N-wire and N-wedge was designed for US calibration. The US calibration showed a mean error of 0.76 mm; the mean dual-arm calibration error is 0.31 mm. The positioning error of the system was verified with a mean error of 1.48 mm. In addition, we used two abdominal phantoms with computed tomography scan validation, with an averaged position error of 1.867 ± 0.436 mm and an orientation error of 2.190 ± 0.764°. The proposed system is aimed to perform clinical operations, such as abdominal MIS, with real-time image monitoring of the organ tissues and instrument positions, which meet the requirements for medical application.
超声（US）成像系统广泛应用于机器人系统中，用于临床应用中的精确定位。US 校准对于最小化仪器之间空间坐标的差异至关重要，这对于导航系统中的微创手术（MIS）至关重要。在这项研究中，我们提出了一种双机械臂系统，该系统将 US 成像与一只手臂结合使用，用于路径规划和监测，而另一只手臂则通过预规划程序进行精确的定位。设计了一个带有 N 线和 N 楔形的幻影用于 US 校准。US 校准显示平均误差为 0.76mm；双臂校准平均误差为 0.31mm。系统的定位误差通过平均误差 1.48mm 进行验证。此外，我们使用了两个带有 CT 扫描验证的腹部幻影，位置误差平均为 1.867±0.436mm，方向误差为 2.190±0.764°。所提出的系统旨在执行临床手术，例如腹部 MIS，并实时监测器官组织和器械位置的图像，这符合医疗应用的要求。
