Design and Kinematics Analysis of a Novel MR-Compatible Robot for Needle Insertion View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2012

AUTHORS

Chaochao Cheng , Shan Jiang , Jun Liu , Jinlong Lou

ABSTRACT

The MR-compatible robot for needle insertion has attracted increasingly attentions due to high precision in minimally invasive surgery. A robotic system for prostate brachytherapy has been designed and is actuated by five ultrasonic motors to realize needle orientation and insertion. The application of cable transmission leads to a compact and dexterous mechanism, because all the motors are placed in the base and the moving part of the mechanism becomes as light and small as possible. What’s more, placing the motors far away from the center of the scanner will eliminate artifacts and distortion of the MR images caused by the motors. The displacement analysis is carried out and the reachable workspace is obtained. Jacobian matrix is deduced in velocity mapping model for dimensional synthesis in further study. Configuration singularities are analyzed on the basis of Jacobian matrix. More... »

PAGES

443-453

References to SciGraph publications

Book

TITLE

Advances in Reconfigurable Mechanisms and Robots I

ISBN

978-1-4471-4140-2
978-1-4471-4141-9

From Grant

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-1-4471-4141-9_40

DOI

http://dx.doi.org/10.1007/978-1-4471-4141-9_40

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1017679375


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Artificial Intelligence and Image Processing", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Information and Computing Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Tianjin University", 
          "id": "https://www.grid.ac/institutes/grid.33763.32", 
          "name": [
            "School of Mechanical Engineering, Center for Advanced Mechanisms and Robotics, Tianjin University, 300072\u00a0Tianjin, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Cheng", 
        "givenName": "Chaochao", 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Tianjin University", 
          "id": "https://www.grid.ac/institutes/grid.33763.32", 
          "name": [
            "School of Mechanical Engineering, Center for Advanced Mechanisms and Robotics, Tianjin University, 300072\u00a0Tianjin, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Jiang", 
        "givenName": "Shan", 
        "id": "sg:person.0757613723.61", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0757613723.61"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Tianjin People's Hospital", 
          "id": "https://www.grid.ac/institutes/grid.417031.0", 
          "name": [
            "Department of Magnetic Resonance, Tianjin Union Medicine Centre, 300121\u00a0Tianjin, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Liu", 
        "givenName": "Jun", 
        "id": "sg:person.01033515176.89", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01033515176.89"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Tianjin University", 
          "id": "https://www.grid.ac/institutes/grid.33763.32", 
          "name": [
            "School of Mechanical Engineering, Center for Advanced Mechanisms and Robotics, Tianjin University, 300072\u00a0Tianjin, China"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Lou", 
        "givenName": "Jinlong", 
        "id": "sg:person.0717266576.16", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0717266576.16"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "sg:pub.10.1007/978-3-540-75757-3_52", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1018483732", 
          "https://doi.org/10.1007/978-3-540-75757-3_52"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/978-3-540-75757-3_52", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1018483732", 
          "https://doi.org/10.1007/978-3-540-75757-3_52"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.urology.2006.08.1089", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1021590247"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1148/radiographics.16.6.8946541", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1037844171"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/0360-3016(92)90557-x", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1048134609"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1017/s0263574709990877", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1054062452"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/tbme.2007.900816", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061527110"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/tmech.2008.924044", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061692446"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1115/1.1785803", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1062074485"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/icmech.2006.252593", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093252153"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2012", 
    "datePublishedReg": "2012-01-01", 
    "description": "The MR-compatible robot for needle insertion has attracted increasingly attentions due to high precision in minimally invasive surgery. A robotic system for prostate brachytherapy has been designed and is actuated by five ultrasonic motors to realize needle orientation and insertion. The application of cable transmission leads to a compact and dexterous mechanism, because all the motors are placed in the base and the moving part of the mechanism becomes as light and small as possible. What\u2019s more, placing the motors far away from the center of the scanner will eliminate artifacts and distortion of the MR images caused by the motors. The displacement analysis is carried out and the reachable workspace is obtained. Jacobian matrix is deduced in velocity mapping model for dimensional synthesis in further study. Configuration singularities are analyzed on the basis of Jacobian matrix.", 
    "editor": [
      {
        "familyName": "Dai", 
        "givenName": "Jian S", 
        "type": "Person"
      }, 
      {
        "familyName": "Zoppi", 
        "givenName": "Matteo", 
        "type": "Person"
      }, 
      {
        "familyName": "Kong", 
        "givenName": "Xianwen", 
        "type": "Person"
      }
    ], 
    "genre": "chapter", 
    "id": "sg:pub.10.1007/978-1-4471-4141-9_40", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isFundedItemOf": [
      {
        "id": "sg:grant.6982410", 
        "type": "MonetaryGrant"
      }
    ], 
    "isPartOf": {
      "isbn": [
        "978-1-4471-4140-2", 
        "978-1-4471-4141-9"
      ], 
      "name": "Advances in Reconfigurable Mechanisms and Robots I", 
      "type": "Book"
    }, 
    "name": "Design and Kinematics Analysis of a Novel MR-Compatible Robot for Needle Insertion", 
    "pagination": "443-453", 
    "productId": [
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/978-1-4471-4141-9_40"
        ]
      }, 
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "543c14919a6a97561ab5d9505e32fa65c2b433a1abffc0e43c88189d10b4b043"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1017679375"
        ]
      }
    ], 
    "publisher": {
      "location": "London", 
      "name": "Springer London", 
      "type": "Organisation"
    }, 
    "sameAs": [
      "https://doi.org/10.1007/978-1-4471-4141-9_40", 
      "https://app.dimensions.ai/details/publication/pub.1017679375"
    ], 
    "sdDataset": "chapters", 
    "sdDatePublished": "2019-04-15T15:20", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8672_00000254.jsonl", 
    "type": "Chapter", 
    "url": "http://link.springer.com/10.1007/978-1-4471-4141-9_40"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/978-1-4471-4141-9_40'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/978-1-4471-4141-9_40'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/978-1-4471-4141-9_40'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/978-1-4471-4141-9_40'


 

This table displays all metadata directly associated to this object as RDF triples.

128 TRIPLES      23 PREDICATES      36 URIs      20 LITERALS      8 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/978-1-4471-4141-9_40 schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author Ne67ee5c1550f47a4a4f122aaa2fcf5a4
4 schema:citation sg:pub.10.1007/978-3-540-75757-3_52
5 https://doi.org/10.1016/0360-3016(92)90557-x
6 https://doi.org/10.1016/j.urology.2006.08.1089
7 https://doi.org/10.1017/s0263574709990877
8 https://doi.org/10.1109/icmech.2006.252593
9 https://doi.org/10.1109/tbme.2007.900816
10 https://doi.org/10.1109/tmech.2008.924044
11 https://doi.org/10.1115/1.1785803
12 https://doi.org/10.1148/radiographics.16.6.8946541
13 schema:datePublished 2012
14 schema:datePublishedReg 2012-01-01
15 schema:description The MR-compatible robot for needle insertion has attracted increasingly attentions due to high precision in minimally invasive surgery. A robotic system for prostate brachytherapy has been designed and is actuated by five ultrasonic motors to realize needle orientation and insertion. The application of cable transmission leads to a compact and dexterous mechanism, because all the motors are placed in the base and the moving part of the mechanism becomes as light and small as possible. What’s more, placing the motors far away from the center of the scanner will eliminate artifacts and distortion of the MR images caused by the motors. The displacement analysis is carried out and the reachable workspace is obtained. Jacobian matrix is deduced in velocity mapping model for dimensional synthesis in further study. Configuration singularities are analyzed on the basis of Jacobian matrix.
16 schema:editor Na2874111b38a4c2cac41beec9ec8663f
17 schema:genre chapter
18 schema:inLanguage en
19 schema:isAccessibleForFree false
20 schema:isPartOf N00cb3c1ac2c5453d9505d9a03dc398d7
21 schema:name Design and Kinematics Analysis of a Novel MR-Compatible Robot for Needle Insertion
22 schema:pagination 443-453
23 schema:productId N8171f29b7c8a40e68b1cd0e7f5520674
24 Nd45c3c7095cf49eab15edf2dda9130ae
25 Ne6f9fa1fd6464b799c59906c0a5060f2
26 schema:publisher N452e357b82d14ac6aedcf6d8375c979f
27 schema:sameAs https://app.dimensions.ai/details/publication/pub.1017679375
28 https://doi.org/10.1007/978-1-4471-4141-9_40
29 schema:sdDatePublished 2019-04-15T15:20
30 schema:sdLicense https://scigraph.springernature.com/explorer/license/
31 schema:sdPublisher Ndabf195821994cc09fb34bc710cbb1e1
32 schema:url http://link.springer.com/10.1007/978-1-4471-4141-9_40
33 sgo:license sg:explorer/license/
34 sgo:sdDataset chapters
35 rdf:type schema:Chapter
36 N00cb3c1ac2c5453d9505d9a03dc398d7 schema:isbn 978-1-4471-4140-2
37 978-1-4471-4141-9
38 schema:name Advances in Reconfigurable Mechanisms and Robots I
39 rdf:type schema:Book
40 N07a66fc8afba43bfbeed26c96e26f526 rdf:first sg:person.0757613723.61
41 rdf:rest Nce8a2ceca0c2423499d7016d3b6a9bbb
42 N31dd7fba4a8e4ac09c83992c2faed6c7 schema:familyName Dai
43 schema:givenName Jian S
44 rdf:type schema:Person
45 N452e357b82d14ac6aedcf6d8375c979f schema:location London
46 schema:name Springer London
47 rdf:type schema:Organisation
48 N5057c16999c84e309367a575db9bde47 schema:familyName Kong
49 schema:givenName Xianwen
50 rdf:type schema:Person
51 N5e80f4a108674ad3ab6dd2c0c537cddc schema:familyName Zoppi
52 schema:givenName Matteo
53 rdf:type schema:Person
54 N605d39f50d9543b597db0d1b861bd618 rdf:first N5057c16999c84e309367a575db9bde47
55 rdf:rest rdf:nil
56 N80e5e48b87cd45a9ba933ed421dcf572 rdf:first N5e80f4a108674ad3ab6dd2c0c537cddc
57 rdf:rest N605d39f50d9543b597db0d1b861bd618
58 N8171f29b7c8a40e68b1cd0e7f5520674 schema:name readcube_id
59 schema:value 543c14919a6a97561ab5d9505e32fa65c2b433a1abffc0e43c88189d10b4b043
60 rdf:type schema:PropertyValue
61 Na2874111b38a4c2cac41beec9ec8663f rdf:first N31dd7fba4a8e4ac09c83992c2faed6c7
62 rdf:rest N80e5e48b87cd45a9ba933ed421dcf572
63 Nacae03c8560c4a3185a8970d87dc2a56 rdf:first sg:person.0717266576.16
64 rdf:rest rdf:nil
65 Nce8a2ceca0c2423499d7016d3b6a9bbb rdf:first sg:person.01033515176.89
66 rdf:rest Nacae03c8560c4a3185a8970d87dc2a56
67 Nd360c680f7ce484391f9569aabd3bb80 schema:affiliation https://www.grid.ac/institutes/grid.33763.32
68 schema:familyName Cheng
69 schema:givenName Chaochao
70 rdf:type schema:Person
71 Nd45c3c7095cf49eab15edf2dda9130ae schema:name dimensions_id
72 schema:value pub.1017679375
73 rdf:type schema:PropertyValue
74 Ndabf195821994cc09fb34bc710cbb1e1 schema:name Springer Nature - SN SciGraph project
75 rdf:type schema:Organization
76 Ne67ee5c1550f47a4a4f122aaa2fcf5a4 rdf:first Nd360c680f7ce484391f9569aabd3bb80
77 rdf:rest N07a66fc8afba43bfbeed26c96e26f526
78 Ne6f9fa1fd6464b799c59906c0a5060f2 schema:name doi
79 schema:value 10.1007/978-1-4471-4141-9_40
80 rdf:type schema:PropertyValue
81 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
82 schema:name Information and Computing Sciences
83 rdf:type schema:DefinedTerm
84 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
85 schema:name Artificial Intelligence and Image Processing
86 rdf:type schema:DefinedTerm
87 sg:grant.6982410 http://pending.schema.org/fundedItem sg:pub.10.1007/978-1-4471-4141-9_40
88 rdf:type schema:MonetaryGrant
89 sg:person.01033515176.89 schema:affiliation https://www.grid.ac/institutes/grid.417031.0
90 schema:familyName Liu
91 schema:givenName Jun
92 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01033515176.89
93 rdf:type schema:Person
94 sg:person.0717266576.16 schema:affiliation https://www.grid.ac/institutes/grid.33763.32
95 schema:familyName Lou
96 schema:givenName Jinlong
97 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0717266576.16
98 rdf:type schema:Person
99 sg:person.0757613723.61 schema:affiliation https://www.grid.ac/institutes/grid.33763.32
100 schema:familyName Jiang
101 schema:givenName Shan
102 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0757613723.61
103 rdf:type schema:Person
104 sg:pub.10.1007/978-3-540-75757-3_52 schema:sameAs https://app.dimensions.ai/details/publication/pub.1018483732
105 https://doi.org/10.1007/978-3-540-75757-3_52
106 rdf:type schema:CreativeWork
107 https://doi.org/10.1016/0360-3016(92)90557-x schema:sameAs https://app.dimensions.ai/details/publication/pub.1048134609
108 rdf:type schema:CreativeWork
109 https://doi.org/10.1016/j.urology.2006.08.1089 schema:sameAs https://app.dimensions.ai/details/publication/pub.1021590247
110 rdf:type schema:CreativeWork
111 https://doi.org/10.1017/s0263574709990877 schema:sameAs https://app.dimensions.ai/details/publication/pub.1054062452
112 rdf:type schema:CreativeWork
113 https://doi.org/10.1109/icmech.2006.252593 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093252153
114 rdf:type schema:CreativeWork
115 https://doi.org/10.1109/tbme.2007.900816 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061527110
116 rdf:type schema:CreativeWork
117 https://doi.org/10.1109/tmech.2008.924044 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061692446
118 rdf:type schema:CreativeWork
119 https://doi.org/10.1115/1.1785803 schema:sameAs https://app.dimensions.ai/details/publication/pub.1062074485
120 rdf:type schema:CreativeWork
121 https://doi.org/10.1148/radiographics.16.6.8946541 schema:sameAs https://app.dimensions.ai/details/publication/pub.1037844171
122 rdf:type schema:CreativeWork
123 https://www.grid.ac/institutes/grid.33763.32 schema:alternateName Tianjin University
124 schema:name School of Mechanical Engineering, Center for Advanced Mechanisms and Robotics, Tianjin University, 300072 Tianjin, China
125 rdf:type schema:Organization
126 https://www.grid.ac/institutes/grid.417031.0 schema:alternateName Tianjin People's Hospital
127 schema:name Department of Magnetic Resonance, Tianjin Union Medicine Centre, 300121 Tianjin, China
128 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...