文献类型：期刊文献

英文题名：Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

作者：Yang, Chongjun[1];Xie, Yu[1,2];Liu, Shuang[3];Sun, Dong[4]

机构：[1]Xiamen Univ, Dept Instrumental & Elect Engn, Xiamen 361005, Peoples R China;[2]Xiamen Univ, Shenzhen Res Inst, Shenzhen 518000, Peoples R China;[3]East China Univ Sci & Technol, Sch Mech & Power Engineer, Shanghai 200237, Peoples R China;[4]City Univ Hong Kong, Dept Mech & Biomed Engn, Hong Kong 999077, Hong Kong, Peoples R China

年份：2018

卷号：18

期号：2

外文期刊名：SENSORS

收录：;EI(收录号：20180804827996);WOS:【SCI-EXPANDED(收录号:WOS:000427544000244)】；

基金：We gratefully acknowledge the financial support from the National Natural Science Foundation of China (No. 61403320 and No. 51405236) and Natural Science Foundation of Guangdong Province (No. 2017A030313352).

语种：英文

外文关键词：needle insertion; force modeling; force measurement; parameter identification; force control

摘要：Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.