六自由度穿刺定位机器人气动控制系统的设计

摘要

The puncture surgery under MRI operated by the doctors' hand is usually of low efficiency and at a high cost. In orderrnto solve this problem, a novel puncture location robot under MRI with 6 DOF is provided. According to the structure and motionrnmechanism of the robot, the pneumatic control system is designed. In this system, cylinders made of aluminum alloy are adopted torndrive the component movement , and PLC is adopted as the controller. Experiment results indicate that the pneumatic control systemrncan meet the requirements of with impact structure.%为解决核磁共振环境下穿刺手术的定位难题,设计了一种六自由度穿刺定位机器人全气动控制系统.该系统采用自制铝合金气缸作为驱动元件,以PLC为控制核心.在搭建的实验平台下进行了试验,试验表明该穿刺定位机器人定位准确,工作效率高,满足了实际使用要求.