医学扶持机器人的系统设计  

System Design of A Medical Needle-holding Robot

作　　者：曹俊芳[1] 蒋力培[1] 邓双成[1] 曹莹瑜[1] 王保山[2] 

机构地区：[1]北京石油化工学院光机电装备技术重点实验室,北京102617 [2]北京石油化工学院工程教育中心,北京102617

出　　处：《北京石油化工学院学报》2009年第2期32-35,共4页Journal of Beijing Institute of Petrochemical Technology

摘　　要：在分析超声引导微波消融肝肿瘤治疗过程中扶针助手的具体扶针动作的基础上,对医学扶持机器人的系统进行了设计。该系统主要由机械系统及传感控制系统组成。介绍了"扶持机器人"系统的总体设计方案、机械设计方案、传感方案的选定及扶持机器人工作流程的制定。经过活体动物实验及初步临床实验表明,该机器人在"超声引导经皮微波消融肝肿瘤"治疗中不仅满足了安全性和稳定性要求,而且随动性更好。The system of a needle-holding robot was designed based on the decomposition of 3D needle-motion during ultrasound-guided microwave ablation of liver cancer. The system is composed of mechanical system and sense control system. The design schemes of the whole system, the mechanical system and the sensing system, and the workflow of the needle-holding robot were introduced. In vivo animal experiments and initial clinical experiments of the needle-holding robot were conducted, which indicate that the needle-holding robot is feasible, safe and flexible when it is used to hold microwave needle in ultrasound-guided percutaneous microwave ablation of liver tumor.

关 键 词：微波消融 扶持机器人 机械手 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]