基于核磁图像导航的前列腺针刺手术机器人

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郭杰, 姜杉, 冯文浩, 刘筠. 基于核磁图像导航的前列腺针刺手术机器人[J]. 机器人, 2012, 34(4): 385-392.. GUO Jie, JIANG Shan, FENG Wenhao, LIU Jun. A Robot for Prostate Needle Insertion Surgery Based on MRI-Guidance. ROBOT, 2012, 34(4): 385-392..

摘要

在对核磁共振图像（MRI）导航手术机器人设计需求进行分析的基础上，设计出一套可用于完成经会阴前列腺近距离粒子放射治疗手术的机器人系统．该系统具有5个自由度，通过核磁兼容气缸和超声波电机混合驱动，自主实现针体位姿调整和针刺操作．根据机器人系统动力学分析进行了驱动气缸选型．最后通过核磁兼容性实验和针刺精度实验，验证该机器人系统能够满足核磁兼容性要求，针刺精度为0.91mm．

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	郭杰
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	冯文浩
	刘筠

关键词 ：核磁共振成像（MRI）, 机器人, 针刺手术, 近距离放射性治疗, 动力学

Abstract：

Based on the analysis on MRI (magnetic resonance imaging)-guided surgical robot design requirements, a robotic system for transperineal prostate brachytherapy is designed. The robot system with 5 DOFs is actuated by MR-compatible pneumatic cylinders and ultrasonic motor, and needle posture adjustment and insertion action can be achieved automatically. By system dynamics analysis of the robot, the type selection of driving cylinder is accomplished. Finally, MR-compatibility experiment and needle insertion precision experiment are completed to verify that the robotic system can meet MR-compatibility requirement, and the precision of the needle insertion is 0.91mm.

Key words： magnetic resonance imaging (MRI) robot needle insertion surgery brachytherapy dynamic

收稿日期: 2011-11-08 录用日期: 2012-02-13

TP24

基金资助:

国家自然科学基金资助项目（51175373）；教育部新世纪优秀人才支持计划资助项目（NCET-10-0625）；国家重点实验室开放基金资助项目（MSV-2010-22）

通讯作者: 姜杉 E-mail: shanjiang@tju.edu.cn

作者简介: 郭杰（1988-），男，硕士生．研究领域：微创手术机器人．
姜杉（1973-），女，博士，副教授．研究领域：图像导向手术机器人，先进机构学．
冯文浩（1988-），男，硕士生．研究领域：手术机器人控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I4/385

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