超声引导肝肿瘤微波消融治疗机器人系统的研究

为了超声引导肝肿瘤微波消融治疗更精确、更稳定和程序化,减少人为和经验因素的影响,减轻医生劳动强度,保证整个治疗的精确实施,通过分析临床需求,开发了一种床跨式悬臂机器人系统,主要包括手术导航系统和主被动关节相结合的穿刺机器人子系统。机器人可在导航软件的驱动下完成消融针的导航,协助医生完成手术。这种机器人结构简化了控制算法,提高了控制精度。为了进一步减小误差,重新定义了对系统精度影响最大的磁定位装置高精度工作区域。在此区域下,利用多模态穿刺体模进行了系统精度实验。结果表明机器人系统整体位置精度为±1.73 mm,姿态精度为±0.66°,满足临床对定位精度和姿态精度的要求。

A Study of Ultrasound-guided Robot System for Liver Cancer Coagulation Therapy

A medical robotic system for ultrasound-guided liver cancer coagulation therapy was developed,which had 5 active DOF and 7 passive DOF.A navigation system was also proposed based on this structure.The robot can drive the surgical instruments under the guidance of navigation system,and assist the doctors to complete the puncture procedures.This decoupled design greatly simplified the implementation of control algorithm,and improved the control precision.In order to minimize the error,the precision work area of magnetic locator was redetermined. Using multi-modal phantom,puncture experiments were conducted to assess the performance of the robot system.The results showed that the position accuracy of navigation system was±1.73 mm and the gesture accuracy was±0.66°,which was accurate enough for liver cancer coagulation therapy.