超声图像导航微创手术机器人系统的设计

摘要

Because of the high incidence of prostate cancer,low operating stability and seed radiation,an ultrasoundguided robotic minimally invasive surgical system which consists of ultrasonic image navigation,surgical robot and prostate cancer spatial positioning device is developed.First,the degree of freedom distribution and the working range of the joints of the surgical robot are determined,and its working space is reduced.Then the static analysis of its key components is conducted under the different positions and orientations of the robot.Finally,the accuracy tests are carried out with a laser tracker.The electromagnetic positioning instrument and the robotic mechanical precision are verified and the error compensation is realized.The experimental results show that the error of the minimally invasive surgical system is less than 1 mm,which meets the needs of brachytherapy for prostate cancer.%针对前列腺癌发病率高、手术稳定性差以及放射性粒子辐射等问题,提出了超声图像导航微创手术机器人系统.该系统主要由超声波图像导航、手术机器人和空间定位装置3个模块构成.首先,确定了机器人自由度分配与各关节工作范围,推导出机器人工作空间.其次对机器人不同位姿下的关键零部件进行力学分析.最后通过激光追踪仪精度测试实验,验证了系统中电磁定位仪和机器人机械精度,并进行了误差补偿.实验结果表明,该系统的误差小于1 mm,满足前列腺癌近距离粒子放射性治疗手术的需求.