洪在地, 贠超, 赵磊. 用于神经外科手术的磁共振图像导航机器人的兼容性研究[J]. 机器人, 2009, 31(3): 204-209.
引用本文: 洪在地, 贠超, 赵磊. 用于神经外科手术的磁共振图像导航机器人的兼容性研究[J]. 机器人, 2009, 31(3): 204-209.
HONG Zai-di, YUN Chao, ZHAO Lei. On Compatibility of an MRI-Guided Robot for Neurosurgery[J]. ROBOT, 2009, 31(3): 204-209.
Citation: HONG Zai-di, YUN Chao, ZHAO Lei. On Compatibility of an MRI-Guided Robot for Neurosurgery[J]. ROBOT, 2009, 31(3): 204-209.

用于神经外科手术的磁共振图像导航机器人的兼容性研究

On Compatibility of an MRI-Guided Robot for Neurosurgery

  • 摘要: 分析了磁共振图像导航微创外科手术环境对机器人的要求,提出了磁共振图像导航机器人必须满足的结构和磁共振兼容性方面的特殊要求.探讨了MRI导航机器人的构型设计及结构优化设计问题,实现了机器人结构兼容性设计.将机器人部件进行分类,并设计了相应的磁共振兼容测试方法.通过在各部件兼容性测试中对水模信噪比的测试,实现了机器人磁共振兼容性.

     

    Abstract: The requirements for magnetic resonance imaging(MRI) guided minimally invasive surgery robot are analyzed, and the specific requirements of mechanical and MRI compatibility for MRI-guided robot are put forward.The configuration design and structure optimization of MRI-guided robot are discussed,and mechanical compatibility design is achieved.The mechanical parts of the robot are classified,and the corresponding test methods of MRI compatibility are designed.MRI compatibility is realized according to SNR(signal-to-noise ratio) test with phantom during compatibility tests of each part.

     

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