Robot Design of Prostate Needle-insertion Surgery for Restricted Space
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摘要: 为了能够在核磁环境下进行前列腺针刺手术，在满足临床需求的基础上，运用多种类型的超声电机，设计了一种新型针刺手术机器人结构。首先基于RCM原理对针刺模块做了相关改进，增加了压电减摩装置可以减小针刺过程的摩擦阻力；然后通过D-H参数法求解了正逆运动学方程，并用蒙特卡洛法求解了机器人的工作空间；最后通过MATLAB软件对所求得的运动学方程进行了验证，对机器人关节运动性能进行了仿真。通过分析与验证，该机器人满足核磁环境下的设计需求。Abstract: In order to operate on prostate needle-insertion surgery under the magnetic resonance environment, a new robot structure for acupuncture surgery was designed based on the clinical requirements and various types of ultrasonic motors. Firstly, based on the principle of RCM(remote center of motion), related improvement is added to the needle-insertion module; the friction resistance of the needle-insertion process can be reduced because of piezoelectric anti-friction device. Then the forward and inverse kinematics equations are solved by D-H (Denavit-Hartenberg)parameter method, and the workspace of the robot is solved by Monte Carlo method. Finally, the kinematics equation is verified by MATLAB software, and the robot joint Kinematics performance is simulated. Analysis and verification are completed; it is proved that the robot meets the design requirements under the magnetic resonance environment.
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Key words:
- magnetic resonance environment /
- needle-insertion surgery robot /
- piezoelectric anti-friction /
- kinematics /
- workspace /
- MATLAB /
- design /
- simulation
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表 1 机器人关节运动范围
自由度 运动范围 运动需求 X-方向 -30 mm~30 mm 自动 Y-方向 -30 mm~30 mm 自动 Z-方向 -20 mm~20 mm 自动 俯仰角 -20°~20° 自动 摆动角 -15°~15° 自动 针刺深度 0~150 mm 自动或手动 
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表 2 机器人D-H参数
序号 θi/mm di/mm ai-1/mm αi-1/rad 1 0 d1 0 -π/2 2 π/2 d2 0 π/2 3 π/2 H1+d3 0 0 4 π/2+θ4 d4 0 π/2 5 π/2-θ5 0 a5 π/2 6 0 L+d6 a6 0
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