Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors

被引：0

作者：

Ying-Yu Cao ^{[1
]}

Long Xue ^{[2
]}

Bo-Jin Qi ^{[1
]}

Li-Pei Jiang ^{[2
]}

Shuang-Cheng Deng ^{[2
]}

Ping Liang ^{[3
]}

Jia Liu ^{[4
]}

机构：

[1] School of Mechanical Engineering and Automation, Beihang University

[2] Department of Interventional Ultrasound, Chinese PLA General Hospital

[3] Thermotherapy Integrated Radiotherapy Department, Hunan Cancer Hospital

[4] Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory, Beijing Institute of Petrochemical Technology

来源：

Chinese Journal of Mechanical Engineering | 2017年 / 06期

基金：

中国国家自然科学基金;

关键词：

Robot; Composite configuration; Interventional therapy; Decoupling mechanism; Intelligent positioning;

D O I：

暂无

中图分类号：

R735.7 [肝肿瘤]; TP242 [机器人];

学科分类号：

100214 ; 1111 ;

摘要：

The existing interventional therapy robots for the microwave ablation of liver tumors have a poor clinical applicability with a large volume, low positioning speed and complex automatic navigation control. To solve above problems, a composite configuration interventional therapy robot with passive and active joints is developed. The design of composite configuration reduces the size of the robot under the premise of a wide range of movement, and the robot with composite configuration can realizes rapid positioning with operation safety. The cumulative error of positioning is eliminated and the control complexity is reduced by decoupling active parts. The navigation algorithms for the robot are proposed based on solution of the inverse kinematics and geometric analysis. A simulation clinical test method is designed for the robot, and the functions of the robot and the navigation algorithms are verified by the test method. The mean error of navigation is 1.488 mm and the maximum error is 2.056 mm, and the positioning time for the ablation needle is in 10s. The experimental results show that the designed robot can meet the clinical requirements for the microwave ablation of liver tumors. The composite configuration is proposed in development of the interventional therapy robot for the microwave ablation of liver tumors,which provides a new idea for the structural design of medical robots.

引用

页码：1416 / 1425

页数：10