颅颌面肿瘤放射性粒子植入手术机器人设计与实现

发布时间：2018-03-24 22:11

本文选题：颅颌面肿瘤　切入点：手术机器人　出处：《机械科学与技术》2017年03期

【摘要】：放射性粒子植入治疗术是目前治疗颅颌面肿瘤的一种有效手段,但存在手动植入精度低、手术时间长、医生遭受辐射等问题。为此结合手术特点和需求,设计了一种新型的颅颌面肿瘤粒子植入手术机器人,以实现机器人自动植入粒子辅助治疗颅颌面肿瘤的目的。本文设计了颅颌面肿瘤粒子植入手术机器人系统,完成了机器人本体和粒子植入装置的机构设计,建立了运动学方程并给出了机器人到达目标点的各关节运动学解。最后,设计了机器人连续自动植入粒子手术模式下的控制系统,完成了基于标记点的空间配准,实现了机器人自动植入粒子。实验表明,该机器人定位精度高,可安全有效的自动植入粒子,满足颅颌面肿瘤手术要求。
[Abstract]:Radioactive seed implantation is an effective method for the treatment of craniomaxillofacial tumors at present, but there are some problems such as low precision of manual implantation, long operation time, radiation exposure to doctors and so on. A new type of craniofacial tumor particle implantation robot was designed to achieve the goal of automatic particle implantation in the treatment of craniomaxillofacial tumor. In this paper, a new robot system for craniomaxillofacial tumor particle implantation was designed. The mechanism design of the robot body and particle implantation device is completed, the kinematics equation is established and the kinematics solutions of the joints of the robot to the target point are given. In this paper, the control system of the robot in the mode of continuous automatic particle implantation is designed, and the space registration based on the marking points is completed, and the robot automatically implanted particles is realized. The experiment shows that the robot has high positioning accuracy. Safe and effective automatic implantation of seeds to meet the requirements of craniomaxillofacial tumor surgery.
【作者单位】：北京理工大学智能机器人研究所;仿生机器人与系统教育部重点实验室;
【基金】：国家863计划项目(2012AA041606) 北京市科技计划项目(Z14110000201400320140239073)资助
【分类号】：TP242

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