影像引导经皮穿刺治疗机器人系统:经皮穿刺过程中位置和姿态的运动解耦  

A robot for image-guided percutaneous intervention:Decoupled motion capability correlated to the positioning and orientation steps of the percutaneous intervention

作　　者：鲁通[1] 梁萍[1] 邓双成[2] 曹莹瑜[2] 幺娆[2] 

机构地区：[1]解放军总医院介入超声科,北京市100853 [2]北京石油化工学院,北京市102617

出　　处：《中国组织工程研究与临床康复》2009年第48期9447-9450,共4页Journal of Clinical Rehabilitative Tissue Engineering Research

基　　金：北京市科委重点项目(H060720050330)~~

摘　　要：研制了一种影像引导经皮穿刺治疗机器人系统,该系统可用于超声或CT引导的穿刺活检、消融治疗及冷冻治疗及其他基于穿刺的操作。首先对穿刺操作进行分析,然后设计并制造了一个模块化机器人,该机器人可以在一定空间内辅助完成穿刺活检或针式治疗器械的置入。该机器人的主要特点是将经皮穿刺过程中位置和姿态的运动解耦,因此位置和姿态的调整可以由机器人的不同机构单独完成。这种设计的主要优势是更好地保障患者的安全。The purpose of this study was to develop a robotic system for image-guided percutaneous interventions using ultrasound （US） or computed tomography （CT） for needle biopsy, ablation, cryotherapy, and other needle procedures. The conventional operation of puncture was analyzed firstly, and a compact robot was then designed for manipulating a needle or other slender surgical instrument in the confined space. Its distinctive characteristic is the decoupled motion capability correlated to the positioning and orientation steps of the percutaneous intervention. This approach allowed each step of the intervention to be performed using a separate mechanism of the robot. One major advantage of this kinematic approach was patient safety.

关 键 词：影像引导 机器人 数字化医学 

分 类 号：R318[医药卫生—生物医学工程]