一种用于高强度聚焦超声手术的八自由度机器人手术平台  

A HIFU Surgery Using 8-DOF Robotic Surgery Platform

作　　者：许剑波[1] 项林清[1] 曹志奎[1] 马培荪[1] 王文超[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《生物医学工程学杂志》2005年第4期824-828,共5页Journal of Biomedical Engineering

基　　金：上海市科技发展基金资助项目(994419027)

摘　　要：机器人手术是未来外科手术的发展方向,高强度聚焦超声(Highintensityfocusedultrasound,HIFU)手术是一种崭新的无副作用癌症治疗方法。本文介绍了机器人集成超声手术系统、流程,并详细介绍了可以解决术中定位这一关键问题的八自由度机器人手术平台的设计、结构特征、运动机理。分别给出了C形臂和治疗床、C形臂和治疗头两个五维合成运动的可达工作空间分析。相对于已有的手术平台,该平台定位准确、便捷,可治疗的人体区域也更大,从而使治疗方案的设计更具灵活性。Robots are being more and more used in surgery. High Intensity Focused Ultrasound is newly used in tumor treatment and it is non invasive. In this paper, we introduced a Robot integrated HIFU surgery system and its general flow. Also introduced is an 8 DOF surgical platform, its design, its mechanism and its kinematic analysis. In the end, we give out two spatial working areas individually. Each is the combination of 5 dimensional motions. Compared with other platforms available, this surgery platform is more flexible and accurate and its treatment area is larger. All these advantages make the treatment design easier.

关 键 词：机器人 手术平台 工作空间 高强度聚焦超声 肿瘤 高强度聚焦超声手术 机器人手术 自由度 平台 治疗方法 

分 类 号：R318.6[医药卫生—生物医学工程]