Some medical procedures require the insertion of a needle under a patient’s skin using CT scan monitoring guidance for precision. CT scans emit radiation, posing some cumulative risks for medical personnel. To avoid this problem, a remote control robot has been developed (Piccin, 2009). The robot controls the needle in position and angle in the constraint space of a CT scan machine and also provides the physician with force feedback commensurate with the insertion opposition encountered by the type of tissue in which the needle is inserted. The robot has other features that give the operator the similar sensations and maneuverability as if the needle was inserted directly. Figure P5.39 shows the block diagram of the force insertion
a. Assuming
b. Now with
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Control Systems Engineering
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- Principles of Heat Transfer (Activate Learning wi...Mechanical EngineeringISBN:9781305387102Author:Kreith, Frank; Manglik, Raj M.Publisher:Cengage Learning