A hybrid robot guided by Computer Tomography in minimally invasive cryosurgery

摘要

This paper focuses on a new hybrid robot for CT-guided minimally invasive cryosurgery．The limited operadon environment in minimally invasive cryosurgery was analyzed．Medical hybrid robot with 9-DOF Was presented．Detail structure of hybrid robot was analyzed based on screw theory and Displacement Manifold(DM)．The characteristic functions of displacement output of serial machine and parallel machine were put forward．By Motion Synthesis Method(MSM)，The DM ofhybrid robotWas deduced.A 4-DOF parallel robot with high dexterity Was brought forward and designed，the kinematics control and dynamics control of which were decoupled.The final structure of hybrid robot was determined.The dexterity ofhybrid robotWas defined and calculated in terms ofRiemarm Manifold(RM)．Simulative clinical experimentation showed that absolute locating precision of hybrid robot arrived at 1.08mm,which can meet the requirement of clinical cryosurgery.