近距离后装放射治疗机器人结构设计与控制系统研究

发布时间：2018-06-08 21:16

本文选题：近距离后装机器人 + 机构设计　；参考：《天津大学》2014年硕士论文

【摘要】：后装技术是近距离放射治疗的一个重要分支,已成为当前肿瘤治疗研究热点,本文在天津市科技支撑计划重大项目支持下,设计开发了具有自主知识产权的近距离后装放射治疗机器人。主要内容涉及机械结构设计与制造、传动系统和控制系统搭建,并对后装机机器人传动和源到位精度等关键问题进行分析和研究。研究取得以下成果:以满足近距离后装放射治疗为目的,对后装机器人关键传动装置进行了系统分析,并提出改进后机器人传动系统初步设计方案,进而确定后装放射治疗机器人机械本体结构,完成了该子系统的概念设计、方案设计、详细设计。建立了样机的三维虚拟模型,绘制了相关零部件的二维工程图,为样机的研制奠定技术基础。结合后装机器人功能需求,对其控制系统进行了详细分析,在完成控制系统初步设计后,搭建了该机器人硬件控制系统,开发了以PLC为核心的控制程序。在此基础上,完成了控制子系统与机械子系统的联调,通过实验实现了真、假源缆在导管中平滑运动和出源分度的准确性。针对该机器人所采用的开环丝传动特点,综合考虑摩擦和柔性源缆的弹性,建立源缆与导管传输力学模型,理论推导出影响源缆定位精度的因素。在完成机器人关键物理样机制作及初步调试后,搭建试验平台,实验探究主要影响源缆定位精度因素。试验取得预期效果,验证了理论分析的正确性。本文研究成果具有较高的应用价值和理论意义,在放疗机器人的设计及应用中具有较大借鉴意义,并为与其相关的后续工作打下良好的基础。
[Abstract]:Post-loading technology is an important branch of brachytherapy and has become a hot spot in tumor therapy research. This paper is supported by Tianjin Science and Technology support Project. A brachytherapy robot with independent intellectual property rights is designed and developed. The main contents are related to the design and manufacture of mechanical structure, the construction of transmission system and control system, and the analysis and research of the key problems such as the transmission and the precision of source position of the rear loader robot. The results are as follows: in order to meet the purpose of close range afterloading radiotherapy, the key transmission devices of the rear loading robot are systematically analyzed, and the preliminary design scheme of the improved robot transmission system is put forward. Then the mechanical structure of the afterloading radiotherapy robot is determined, and the conceptual design, scheme design and detailed design of the subsystem are completed. The 3D virtual model of the prototype is established, and the 2D engineering drawing of the related parts is drawn, which lays a technical foundation for the development of the prototype. Combined with the functional requirements of the rear loading robot, the control system is analyzed in detail. After the preliminary design of the control system is completed, the hardware control system of the robot is built and the control program with PLC as the core is developed. On this basis, the combination of control subsystem and mechanical subsystem is completed, and the accuracy of smooth motion of true and false source cable in the conduit and the accuracy of source graduation are realized through experiments. According to the characteristics of open-loop wire transmission adopted by the robot, the mechanical model of the transmission of source cable and conduit is established by considering the friction and flexibility of the source cable, and the factors influencing the positioning accuracy of the source cable are deduced theoretically. After completing the manufacture and preliminary debugging of the key physical prototype of the robot, an experimental platform was built to explore the main factors affecting the positioning accuracy of the source cable. The experimental results show that the theoretical analysis is correct. The research results of this paper have high application value and theoretical significance, and have great reference significance in the design and application of radiotherapy robot, and lay a good foundation for the follow-up work related to it.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242

【相似文献】