| MRI兼容的乳腺穿刺介入辅助机器人设计与路径规划研究 |
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| 引用本文： | 寿佳瀛,付庄,梅琼风,李康安,李茂林,谢荣理,张俊,费健.MRI兼容的乳腺穿刺介入辅助机器人设计与路径规划研究[J].机械与电子,2021,39(7):55-59. |
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| 作者姓名： | 寿佳瀛 付庄 梅琼风 李康安 李茂林 谢荣理 张俊 费健 |
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| 作者单位： | １．上海交通大学机械系统与振动国家重点实验室,上海 ２００２４０ ;２．上海市第一人民医院,上海 ２０００８０ ;?３．上海交通大学医学院附属瑞金医院,上海 ２０００２５ |
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| 摘 要： | 针对核磁共振成像环境( MRI )下的乳腺穿刺手术定位问题,研制了一种直角坐标构型的５自由度穿刺手术辅助机器人,设计了基于多视角拼接图像信息的路径规划方案.结果表明,所研制的穿刺机器人具备在磁共振环境下工作的材料与结构的兼容性能,且具备空间定位与轨迹规划能力.
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| 关 键 词： | 机器人辅助手术 乳腺穿刺手术 核磁兼容 多目视觉 透视变换 |
Design of MRI-compatible Robot System for Breast Invasive Surgery |
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| SHOU Jiaying,FU Zhuang,MEI Qiongfeng,LI Kang'an,LI Maolin,XIE Rongli,ZHANG Jun,FEI Jian.Design of MRI-compatible Robot System for Breast Invasive Surgery[J].Machinery & Electronics,2021,39(7):55-59. |
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| Authors: | SHOU Jiaying FU Zhuang MEI Qiongfeng LI Kang'an LI Maolin XIE Rongli ZHANG Jun FEI Jian |
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| Affiliation: | (１．State Key Laboratory of Mechanical System and Vibration , Shanghai Jiao Tong University , Shanghai ２００２４０ , China ;２．Shanghai General Hospital , Shanghai ２０００８０ , China ;３．Ruijin Hospital Affiliated to Shanghai Jiao Tong University , Shanghai ２０００２５ , China ) |
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| Abstract: | Localization of insertion points is a difficult problem for manually operated breast invasive surgery based on Magnetic Resonance Imaging ( MRI ) ． In this research , an invasive surgery assist robot with ５ degrees of freedom was developed to provide a solution , and a route planning scheme based on spliced multi-view images was designed．MRI-compatibility of the invasive robot was studied on the perspective of material and structure under magnetic resonance environment．Experiments were carried out to verify the ability of spatial positioning and trajectory planning of the robot． |
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| Keywords: | robot-assisted surgery breast invasive surgery MRI-compatibility multi-view image perspective transformation |
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