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Real time estimator to perform targeted biopsies with a free-wrist robot despite large deformations of the insertion orifice

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اقرأ أكثر حفظ في قائمتي
  • معلومة اضافية
    • Contributors:
      Ampère, Département Automatique pour l'Ingénierie des Systèmes (AIS); Ampère (AMPERE); École Centrale de Lyon (ECL); Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL); Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon); Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL); Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE); Hôpital Lariboisière-Fernand-Widal APHP; Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP); Institut des Systèmes Intelligents et de Robotique (ISIR); Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS); ANR-17-CE19-0023,ROBUST,TECHNIQUE STANDARDISEE POUR LA BIOPSIE ROBOTISEE DE L'UTERUS(2017)
    • بيانات النشر:
      CCSD
      Frontiers Media S.A.
    • الموضوع:
      2021
    • Collection:
      HAL Lyon 1 (University Claude Bernard Lyon 1)
    • نبذة مختصرة :
      International audience ; In the context of keyhole surgery, and more particularly of uterine biopsy, the fine automatic movements of a surgical instrument held by a robot with 3 active DOF’s require an exact knowledge of the point of rotation of the instrument. However, this center of rotation is not fixed and moves during an examination. This paper deals with a new method of detecting and updating the interaction matrix linking the movements of the robot with the surgical instrument. This is based on the method of updating the Jacobian matrix which is named the ”Broyden method”. It is able to take into account body tissue deformations in real time in order to improve the pointing task for automatic movements of a surgical instrument in an unknown environment.
    • الرقم المعرف:
      10.3389/frobt.2021.780505
    • الدخول الالكتروني :
      https://hal.science/hal-03385568
      https://hal.science/hal-03385568v1/document
      https://hal.science/hal-03385568v1/file/Generated%20Manuscript.PDF
      https://doi.org/10.3389/frobt.2021.780505
    • Rights:
      info:eu-repo/semantics/OpenAccess
    • الرقم المعرف:
      edsbas.4472FD79