Design and control of a bionic needle puncture robot

摘要

Background: The application of minimally invasive interventional breast surgery is becoming more and more widespread. The accurate puncture of breast cancer needs to solve the problems of tissue deformation and target displacement. Methods: In this study, we analysed the process of leech blood absorption and developed a robotic needle insertion method based on bionic technology to improve the accuracy of breast cancer diagnosis and treatment. Among them, the design purpose of the sucker manipulator is to adjust and fix the breast tissue. We use uncalibrated visual servo to control soft tissue deformation. Results: We compare the puncture effect of bionic needle puncture robot and common needle puncture on breast prosthesis and in vitro tissue. Experimental data shows that, compared with ordinary needle insertion, the robotic needle insertion method based on bionic technology greatly reduces the targeting error. Conclusions: This method is expected to provide a safe and effective alternative to traditional puncture for breast cancer diagnosis and treatment.