随动定位式医用扶持机器人系统研制

电极针是超声引导下肝肿瘤微波消融微创手术的关键器械。针对医生在扶持操作中手部的抖动或用力的不均匀而造成的电极针偏移问题,研制了一种随动定位式扶持电极针的机器人,通过手术医生拉动把手带动机械臂摆动,仿生机械手移到电极针上方并锁紧定位;通过传感器筒体内的遮光片和对应光耦的相对位置变化来感知电极针的偏转及直线运动,控制摆动和伸缩电机转动,从而实现随动扶持。临床实验表明,该机器人系统大大减少了手术中的人为因素,使微创治疗更为精确、灵巧与安全。

System Development of Follow-orientation Medical Supporting Robot

The electrode needle is a key apparatus of the ultrasonic-guided microwave ablation minimal invasive surgery on liver tumors.Aimed at the excursion problem of the electrode needle owing to hand wobble or power asymmetry of doctor in supporting operation,a sort of follow-orientation supporting robot is developed.When the doctor pulling the gripe to make mechanical arm swing,the bionic manipulator moves to the top of the electrode needle and to make it clamped and fixed.The deflexion and beeline movement of the electrode needle can be apperceived through the relative position change between the piece-shade and corresponding light coupling in the sensor canister,which controls the swing and flex electromotor wheel,accordingly the follow supporting is realized.The clinical experiments show that the system reduces greatly the artificial factor of surgery and makes minimally invasive therapy more precise,deft and safe.