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

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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. ROBOT, 2009, 31(3): 204-209..

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．

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	洪在地
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关键词 ：磁共振图像(MRI), 神经外科手术, 机器人, 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.

Key words： magnetic resonance imaging(MRI) neurosurgery robot compatibility

收稿日期: 2008-08-15

TP24

基金资助:科技部国际合作计划资助项目（2006DFA12450）

作者简介: 洪在地（1977- ），男，博士生．研究领域：医疗机器入．
贠超（1952- ），男，教授，博士生导师．研究领域：柔性多体系统动力学，机器人技术和机器人的控制．
赵磊（1968- ），男，博士，副教授．研究领域：磁共振成像，图像导航介入治疗和数字医疗信息技术等．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I3/204

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