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A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
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Optimization of percutaneous intervention robotic system for skin insertion force
Benfang Duan1, Biao Jia2, Cheng Wang2
1Institute for AI in Medicine, School of Artificial Intelligence, Nanjing University of Information Science and Technology, Nanjing, 210044, China.
International Journal of Computer Assisted Radiology and Surgery
|November 8, 2024
Summary
This study introduces a novel clinical puncture system that significantly reduces needle insertion force, improving percutaneous puncture outcomes. The developed admittance control method lowers peak needle force by up to 50%.
Area of Science:
- Medical Engineering
- Interventional Procedures
- Biomedical Devices
Background:
- Percutaneous puncture is a critical interventional technique.
- Needle insertion force directly impacts procedure effectiveness and patient outcomes.
- Optimizing puncture mechanics is essential for advancing minimally invasive treatments.
Purpose of the Study:
- To develop and validate a clinical puncture system for reducing peak needle insertion force.
- To investigate the influence of various parameters on needle force during skin penetration.
- To establish a method for optimizing peak puncture force in percutaneous procedures.
Main Methods:
- Development of a novel clinical puncture system with variable control.
- Analysis of parameter effects on needle insertion force.
- Implementation and validation of admittance control with threshold adjustments.
Main Results:
- The system successfully reduced peak needle insertion force by approximately 50% compared to maximum force conditions.
- A reduction of about 13% in peak force was observed compared to minimum force conditions.
- Key factors influencing peak force and successful application of the method were identified.
Conclusions:
- Optimizing peak puncture force requires careful initial setting of puncture variables based on their impact.
- The novel admittance control method should be integrated using these initial settings.
- Consideration of the new method's characteristics is crucial for effective peak force suppression.
