乳腺穿刺活检手术机器人研究  

Study on robot for breast biopsy

作　　者：袁小航[1] 杨志永[2] 姚贵英[1] YUAN Xiaohang;YANG Zhiyong;YAO Guiying(College of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan 056038,China;School of Mechanical Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]河北工程大学机械与装备学院,河北邯郸056038 [2]天津大学机械工程学院,天津300072

出　　处：《生物医学工程研究》2018年第3期341-345,共5页Journal Of Biomedical Engineering Research

摘　　要：目前乳腺癌活检和近距离治疗在癌症治疗领域是难以解决的问题。针对此问题设计了一种基于丝传动的核磁共振成像(magnetic resonance imaging,MRI)引导的高精度乳腺穿刺机器人系统,并设计了一种新的丝传动绕丝方式,解决了丝传动运动过程中出现的脱丝及绕丝错乱等问题,利用D-H方法推导了机器人的运动学正解,并得到了其工作空间,结果满足设计要求。Breast cancer biopsy and brachytherapy in cancer treatment is difficult to solve.A high precision breast puncture robot system based on wire drive magnetic resonance imaging is designed for this problem,and a new transmission wire around the wire is designed to solve the wire removal and disorder during the movement of wire.The positive solution of the kinematics of the robot is deduced by D-H method,and the working space of the robot is analyzed.The result of the analysis meets the design and work requirements.

关 键 词：核磁共振成像 手术机器人 丝传动 D-H法 运动学分析 

分 类 号：R318[医药卫生—生物医学工程] TH12[医药卫生—基础医学]