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.
[1] 唐粲,炱超,栾胜.一种新型医疗机器人运动学及灵活性分析[J].北京航空航天大学学报,2005,31(7):748~752.Tang Can,Yun Chao,Luan Sheng.Analysis of kinematics and dexterity for new surgery robot[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):748~752.
[2] 刑宏光,王利红,张玉茹.神经外科手术机器人灵活性分析[J].北京航空航天大学学报,2004,30(4):312~315.Xing Hong-guang,Wang Li-hong,Zhang Yu-ru.Dexterity analysis of robot for neurosurgery[J].Journal of Beijing University of Aeronautics and Astronautics,2004,30(4):312~315.
[3] 胡三元,张怀强,王磊.机器人与远程机器人外科精要[M].济南:山东科学技术出版社,2006.Hu San-ynan,Zhang Huai-qiang,Wang Lei.Primer of Robotic& Telerobotic Surgery[M].Jinan:Shandong Science and Technology Press,2006.
[4] Chinzei K,Hata N,Jolesz F A,et al.Surgical assist robot for the active navigation in the intraoperative MRI:Hardware design issues[A].Proceedings of the IEEE/RSJ International Conference on Robots and Intelligent Systmcs[C].Piscataway,NJ,USA:IEEE,2000.727~732.
[5] Koseki Y,Koyachi N,Arai T,et al.Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram-Workspace analysis,workspace control,and stiffness evalnation[A].Proceedings of the IEEE Internationsl Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2003.652~657.
[6] Fischer G S,Iordachita L.DiMaio S R et al.Design of a robot for transperineal prostate needle placement in MRI scanner[A].Proceedings of the IEEE International Conference on Mechatronics[C].Piscataway,NJ,USA:IEEE,2006.592~597.
[7] Muntener M,Patriciu A,Petrisor D,et al.Magnetic resonance imaging compatible robotic system for fully automated brachytherapy seed placement[J].Urology,2006,68(6):1313~1317.
[8] 刘达,王田苗,张玉茹,等.面向微创手术的医疗外科机器人构型综合[J].机器人,2003,25(2):132~135.Liu Da,Wang Tian-miao,Zhang Yu-ru,et al,Structure synthesis of surgical robot orienting to minimally invasive surgery[J].Robot,2003,25(2):132~135.
[9] Chinzei K,Miller K.MRI guided surgical robot[A].Proceedings of the Australian Conference on Robotics and Automation[C].Sydney,Australia:The Australian Robotics and Automation Association Inc.,2001.50~55.
[10] Chinzei K,Kikinis R,Jolesz F A.MR compatibility of mechatronic devices:Design criteria[A].Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention[C].Berlin,Germany:Springer-Verlag,1999.1020~1030.
[11] Clavel R.DELTA,a fast robot with parallel geometry[A].Proceedings of the International Symposium on Industrial Robots[C].Kempston,Bedford,UK:IFS Publications,1988.91~100.
[12] Tsal L W,Walsh G C,Stamper R E.Kinematics of a novel three DOF translation platform[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1996.3446~3451.
[13] Stamper R E,Tsai L W,Walsh G C.Optimization of a three DOF translational platform for well-conditioned workspace[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1997.3250~3255.
[14] 毕树生,宗光华.偏置式Delta并联机构的运动学分析[J].航空学报,2003,24(1):84~89.Bi Shu-sheng,Zong Gnang-hua.Kinematics of Delta parallel mechanism with offsets[J].Acta Aeronantica et Astronautica Sinica,2003,24(1):84~89.
[15] 黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.Huang Zhen,gong Ling-fu,Fang Yue-fa.Mechanism Theory and Control of Parallel Robotic Manipulator[M].Beijing:China Machine Press,1997.
[16] Mcser R,Gassert R,Burdet E,et al.An MR compatible robot technology[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2003.670~675.