University of Twente Student Theses
Design of Real-Time Dynamic Motion Compensation in Vision-Guided Robots for Biopsy Needle Alignment
Li, L. (2024) Design of Real-Time Dynamic Motion Compensation in Vision-Guided Robots for Biopsy Needle Alignment.
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| Abstract: | Current methods for compensating respiratory motion during percutaneous procedures face significant limitations with unexpected patient motion and accuracy. This research aims to address these challenges by developing a real-time, dynamic motion control system for vision-guided biopsy robots. Utilizing a hand-in-eye YOLO model, the system detects respiratory motions and compensates for unintentional patient movements. A pose solver estimates the target's position, guiding the robotic end effector for precise, real-time tracking. The system's performance was evaluated under various movement conditions, focusing on latency, precision, and adaptability in tracking dynamic targets. The results demonstrate the system's capability to improve the accuracy and stability of percutaneous procedures, such as liver biopsies, by reducing the effects of respiratory motion. Specifically, the system achieved sub-millimeter accuracy in translational tracking and effectively compensated for rotational motion, although with some latency, demonstrating potential for significant improvements in clinical outcomes. Additionally, the study identifies potential enhancements and extensions of the system to other medical applications, including autonomous radiotherapy and ultrasound scans. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Electrical Engineering MSc (60353) |
| Link to this item: | https://purl.utwente.nl/essays/103243 |
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