title: Design and analysis of a tendon-based computed tomography-compatible robot with remote center of motion for lung biopsy.
abstract: Nowadays, biopsy is a decisive method of lung cancer diagnosis, whereas lung biopsy is time-consuming, complex and inaccurate. So a computed tomography-compatible robot for rapid and precise lung biopsy is developed in this article. According to the actual operation process, the robot is divided into two modules: 4-degree-of-freedom position module for location of puncture point is appropriate for patient's almost all positions and 3-degree-of-freedom tendon-based orientation module with remote center of motion is compact and computed tomography-compatible to orientate and insert needle automatically inside computed tomography bore. The workspace of the robot surrounds patient's thorax, and the needle tip forms a cone under patient's skin. A new error model of the robot based on screw theory is proposed in view of structure error and actuation error, which are regarded as screw motions. Simulation is carried out to verify the precision of the error model contrasted with compensation via inverse kinematics. The results of insertion experiment on specific phantom prove the feasibility of the robot with mean error of 1.373 mm in laboratory environment, which is accurate enough to replace manual operation.
authors.affiliation: 1 School of Mechanical Engineering, Tianjin University, Tianjin, China.
authors.forename: Yunpeng
authors.initials: Y
authors.lastname: Yang
authors.affiliation: 1 School of Mechanical Engineering, Tianjin University, Tianjin, China.|2 Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China.
authors.forename: Shan
authors.initials: S
authors.lastname: Jiang
authors.affiliation: 1 School of Mechanical Engineering, Tianjin University, Tianjin, China.
authors.forename: Zhiyong
authors.initials: Z
authors.lastname: Yang
authors.affiliation: 1 School of Mechanical Engineering, Tianjin University, Tianjin, China.
authors.forename: Wei
authors.initials: W
authors.lastname: Yuan
authors.affiliation: 1 School of Mechanical Engineering, Tianjin University, Tianjin, China.
authors.forename: Huaisu
authors.initials: H
authors.lastname: Dou
authors.affiliation: 3 Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China.
authors.forename: Wei
authors.initials: W
authors.lastname: Wang
authors.affiliation: 3 Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, China.
authors.forename: Daguang
authors.initials: D
authors.lastname: Zhang
authors.affiliation: 1 School of Mechanical Engineering, Tianjin University, Tianjin, China.
authors.forename: Yuan
authors.initials: Y
authors.lastname: Bian
mesh_terms: D001706:Biopsy / Q000295:instrumentation*; D004867:Equipment Design; D008168:Lung / Q000000981:diagnostic imaging* / Q000473:pathology*; D009038:Motion; D012371:Robotics / Q000295:instrumentation*; D013710:Tendons; D014057:Tomography, X-Ray Computed / Q000295:instrumentation*
keywords: Lung biopsy; computed tomography–compatible robot; error analysis; kinematics analysis; remote center of motion; tendon–sheath