Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors  

作　　者：Ying-Yu Cao Long Xue Bo-Jin Qi Li-Pei Jiang Shuang-Cheng Deng Ping Liang Jia Liu 

机构地区：[1]School of Mechanical Engineering and Automation, Beihang University [2]Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory, Beijing Institute of Petrochemical Technology [3]Department of Interventional Ultrasound, Chinese PLA General Hospital [4]Thermotherapy Integrated Radiotherapy Department, Hunan Cancer Hospital

出　　处：《Chinese Journal of Mechanical Engineering》2017年第6期1416-1425,共10页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant No.2013BAI01B01);Science and Technology Planning Project of Beijing Education Commission of China(Grant No.KM201310017002)

摘　　要：The existing interventional therapy robots for the microwave ablation of liver tumors have a poor clinical applicability with a large volume, low positioning speed and complex automatic navigation control. To solve above problems, a composite configuration interventional therapy robot with passive and active joints is developed. The design of composite configuration reduces the size of the robot under the premise of a wide range of movement, and the robot with composite configuration can realizes rapid positioning with operation safety. The cumulative error of positioning is eliminated and the control complexity is reduced by decoupling active parts. The navigation algo- rithms for the robot are proposed based on solution of the inverse kinematics and geometric analysis. A simulation clinical test method is designed for the robot, and the functions of the robot and the navigation algorithms are verified by the test method. The mean error of navigation is 1.488 mm and the maximum error is 2.056 mm, and thepositioning time for the ablation needle is in 10 s. The experimental results show that the designed robot can meet the clinical requirements for the microwave ablation of liver tumors. The composite configuration is proposed in development of the interventional therapy robot for the microwave ablation of liver tumors, which provides a new idea for the structural design of medical robots.The existing interventional therapy robots for the microwave ablation of liver tumors have a poor clinical applicability with a large volume, low positioning speed and complex automatic navigation control. To solve above problems, a composite configuration interventional therapy robot with passive and active joints is developed. The design of composite configuration reduces the size of the robot under the premise of a wide range of movement, and the robot with composite configuration can realizes rapid positioning with operation safety. The cumulative error of positioning is eliminated and the control complexity is reduced by decoupling active parts. The navigation algo- rithms for the robot are proposed based on solution of the inverse kinematics and geometric analysis. A simulation clinical test method is designed for the robot, and the functions of the robot and the navigation algorithms are verified by the test method. The mean error of navigation is 1.488 mm and the maximum error is 2.056 mm, and thepositioning time for the ablation needle is in 10 s. The experimental results show that the designed robot can meet the clinical requirements for the microwave ablation of liver tumors. The composite configuration is proposed in development of the interventional therapy robot for the microwave ablation of liver tumors, which provides a new idea for the structural design of medical robots.

关 键 词：ROBOT Composite configuration Interventional therapy Decoupling mechanismIntelligent positioning Composite configuration 

分 类 号：R735.7[医药卫生—肿瘤] TP242[医药卫生—临床医学]