留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

超声图像导航微创手术机器人系统的设计

刘盛 杨志永 姜杉 梁红花

刘盛, 杨志永, 姜杉, 梁红花. 超声图像导航微创手术机器人系统的设计[J]. 机械科学与技术, 2017, 36(11): 1678-1683. doi: 10.13433/j.cnki.1003-8728.2017.1107
引用本文: 刘盛, 杨志永, 姜杉, 梁红花. 超声图像导航微创手术机器人系统的设计[J]. 机械科学与技术, 2017, 36(11): 1678-1683. doi: 10.13433/j.cnki.1003-8728.2017.1107
Liu Sheng, Yang Zhiyong, Jiang Shan, Liang Honghua. Designing an Ultrasound-guided Robotic Minimally Invasive Surgical System[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1678-1683. doi: 10.13433/j.cnki.1003-8728.2017.1107
Citation: Liu Sheng, Yang Zhiyong, Jiang Shan, Liang Honghua. Designing an Ultrasound-guided Robotic Minimally Invasive Surgical System[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1678-1683. doi: 10.13433/j.cnki.1003-8728.2017.1107

超声图像导航微创手术机器人系统的设计

doi: 10.13433/j.cnki.1003-8728.2017.1107
基金项目: 

国家自然科学基金项目(51175373,51775368)资助

详细信息
    作者简介:

    刘盛(1991-),硕士研究生,研究方向为医疗手术机器人,Lwin@tju.edu.cn

    通讯作者:

    杨志永(联系人),教授,博士生导师,meyang@tju.edu.cn

Designing an Ultrasound-guided Robotic Minimally Invasive Surgical System

  • 摘要: 针对前列腺癌发病率高、手术稳定性差以及放射性粒子辐射等问题,提出了超声图像导航微创手术机器人系统。该系统主要由超声波图像导航、手术机器人和空间定位装置3个模块构成。首先,确定了机器人自由度分配与各关节工作范围,推导出机器人工作空间。其次对机器人不同位姿下的关键零部件进行力学分析。最后通过激光追踪仪精度测试实验,验证了系统中电磁定位仪和机器人机械精度,并进行了误差补偿。实验结果表明,该系统的误差小于1 mm,满足前列腺癌近距离粒子放射性治疗手术的需求。
  • [1] Siegel R L, Miller K D, Jemal A. Cancer statistics, 2016[J]. CA:A Cancer Journal for Clinicians, 2016,66(1):7-30
    [2] 毕新刚,韩仁强,周金意,等.2009年中国前列腺癌发病和死亡分析[J].中国肿瘤,2013,22(6):417-422 Bi X G, Han R Q, Zhou J Y, et al. An analysis on incidence and mortality of prostate cancer in China, 2009[J]. China Cancer, 2013,22(6):417-422(in Chinese)
    [3] Hungr N, Baumann M, Long J A, et al. A 3-D ultrasound robotic prostate brachytherapy system with prostate motion tracking[J]. IEEE Transactions on Robotics, 2012,28(6):1382-1397
    [4] Hungr N, Troccaz J, Zemiti N, et al. Design of an ultrasound-guided robotic brachytherapy needle-insertion system[C]//Proceedings of Annual International Conference of the International Conference of the IEEE Engineering in Medicine and Biology Society. Minneapolis, MN, USA:IEEE, 2009:250-253
    [5] 嵇武,李宁,黎介寿.我国机器人手术开展的现状与前景展望[J].腹腔镜外科杂志,2011,16(2):85-88 Ji W, Li N, Li J S. Present situation and prospect of robotic surgery in China[J]. Journal of Laparoscopic Surgery, 2011,16(2):85-88(in Chinese)
    [6] Jiang S, Sun F D, Dai J S, et al. Design and analysis of a tendon-based MRI-compatible surgery robot for transperineal prostate needle placement[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2015,229(2):335-348
    [7] 王振华,洪鹰,王国栋,等.主从式微创外科手术机器人主手设计[J].机械科学与技术,2006,25(5):542-544 Wang Z H, Hong Y, Wang G D, et al. Structural design of master-slave minimally invasive surgical robots' manipulators[J] Mechanical Science and Technology, 2006,25(5):542-544(in Chinese)
    [8] Dai J S. Surgical robotics and its development and progress[J]. Robotica, 2010,28(3):161
    [9] 王羿.基于医学图像的三维可视化研究[D].武汉:华中科技大学,2008 Wang Y. Research on three-dimensional visualization of medical image[D]. Wuhan:Huazhong University of Science and Technology, 2008(in Chinese)
    [10] 孙银山.基于三维超声图像的穿刺手术机器人辅助系统研究[D].哈尔滨:哈尔滨工业大学,2011 Sun Y S. Study on robot-assisted system for percutaneous surgery based on 3d ultrasound images[D]. Harbin:Harbin Institute of Technology, 2011(in Chinese)
    [11] Ng W S, Chung V R, Vasan S, et al. Robotic radiation seed implantation for prostatic cancer[C]//Proceedings of the 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Amsterdam, Netherlands:IEEE, 1996,1:231-233
    [12] Fichtinger G, Fiene J P, Kennedy C W, et al. Robotic assistance for ultrasound-guided prostate brachytherapy[J]. Medical Image Analysis, 2008,12(5):535-545
    [13] Yu Y, Podder T K, Zhang Y D, et al. Robotic system for prostate brachytherapy[J]. Computer Aided Surgery, 2007,12(6):366-370
    [14] Priester A M, Natarajan S, Culjat M O. Robotic ultrasound systems in medicine[J]. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 2013,60(3):507-523
    [15] 邬小平.前列腺的磁共振测量研究[D].西安:第四军医大学,2007 Wu X P. Magnetic resonance imaging measure on prostate candidate for master[D]. Xi'an:The Fourth Military Medical University, 2007(in Chinese)
    [16] 高慧,钱志余,王跃,等.电磁手术导航系统的导航精度问题研究[J].北京生物医学工程,2012,31(6):591-596 Gao H, Qian Z Y, Wang Y, et al. Research on precision of electromagnetic surgery navigation system[J]. Beijing Biomedical Engineering, 2012,31(6):591-596(in Chinese)
  • 加载中
计量
  • 文章访问数:  160
  • HTML全文浏览量:  16
  • PDF下载量:  9
  • 被引次数: 0
出版历程
  • 收稿日期:  2016-07-22
  • 刊出日期:  2017-11-05

目录

    /

    返回文章
    返回