Development and Control of a CT Fluoroscopy Guided Lung Puncture Robot

Abstract

Puncture surgery is an effective method for tumor diagnosis and treatment. Traditional manual puncture surgery guided by CT has the shortcomings of invisible tumor target, low puncture accuracy and complications. CT fluoroscopy scanning can obtain almost real-time refreshed CT images, which can help surgeons to puncture in the visibility of the tumor target and puncture needle. However, surgeons suffer from radiation harm and their flexibility and stability of the needle manipulation are greatly reduced. The puncture robot can replace surgeons in radiation and improved the accuracy of the surgery. In this paper, the puncture robot is introduced into the CT fluoroscopy guided lung puncture surgery procedure. The manual puncture surgery procedure is researched first and the requirements and design principles of robot are proposed. A 6-Degreee-Of-Freedom (DOF) puncture robot which can be controlled remotely is developed. The Remote Center Motion (RCM) control of the robot is studied to achieve the puncture angle adjustment under CT fluoroscopy. The developed robot system and puncture surgery scheme combine visibility, accuracy, safety and are of high clinical application value.