A Hybrid Robot System Guided by Computer Tomography for Percutaneous Lung Cancer Cryosurgery

摘要

Using the common serial robot or parallel robot it is difficult to implement computed tomography (CT) guided surgery in a limited workspace. A novel hybrid robot with 9 d.o.f. is presented, the detailed structures of which are analyzed based on screw theory and the displacement manifold. The dexterity of the hybrid robot is provided in terms of the Riemann manifold. The structure of the control system is described. DICOM image processing, spatial registration and three-dimensional dynamic reconstruction in the operation planning subsystem are analyzed, using some new methods that are explained. The architecture of the CT-guided robot system and its subsystems is put forward. Simulative clinical experimentation shows that the locating precision of the hybrid robot is 1.08 mm, which can meet the requirements of clinical cryosurgery.