前列腺靶向放疗机器人系统设计及实验研究  

Design and experimental study of robot system for prostate brachytherapy

作　　者：梁艺 汪步云[1,2] 陈友东 许德章[1,2] LIANG Yi;WANG Buyun;CHEN Youdong;XU Dezhang(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,Anhui China;Wuhu Anpu Robot Industry Technology Institute,Wuhu 241007,Anhui China;School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100083,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000 [2]芜湖安普机器人产业技术研究院,安徽芜湖241007 [3]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《华中科技大学学报（自然科学版）》2020年第12期13-19,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61741101);安徽省重点研发计划资助项目(202004a05020013);安徽省高校自然科学研究项目(KJ2018ZD014,KJ2019A0155,KJ2019A0147);安徽工程大学创新团队项目;安徽工程大学引进人才科研启动基金项目(2017YQQ008)。

摘　　要：针对截石位临床手术特点和介入性机器人干预系统的严苛要求,设计了悬臂关节式靶向放疗机器人系统.根据机器人结构约束条件,提出了定位机构的尺寸优化算法和重力矩补偿机制,以改善悬臂关节驱动能耗和运动平稳性;设计了末端力感知粒子植入机构及硬件电路,采集信号用于进针过程力反馈.根据介入性靶向置针"医师在环"要求,设计了机器人控制系统,提出了融合粒子植入规划、虚拟安全平面进针控制、粒子植入自动循环的人机交互方法.进行了机器人悬臂关节力矩补偿效果及假体模型的半自主植入实验验证,实验结果表明该机器人系统具有较好的粒子植入精度和效率以及人机协作特性.According to the characteristics of lithotomy and interventional robot system stringent requirements,a cantilevered joint targeted radiotherapy robot system was designed.Aiming at the restrictive conditions of robot structure,dimension optimization algorithm and gravity torque compensation mechanism of the positioning mechanism were studied,to improve the energy consumption and motion stability of cantilever joint drive.The seed implantation mechanism with force perception and hardware circuit was designed to realize force data feedback in the needling process.Aiming at the requirement of "doctor in the loop" during interventional targeted needle placement,a robot control system was constructed,and a human-computer interaction method of integrating seed implantation planning,needle insertion control with virtual safety plane and automatic circulation of seed implantation was proposed.The compensating effect of robot cantilever joint torque and semi-autonomous implantation experiment in a prosthesis model were verified.The experimental results show that the robot system has good seed implantation accuracy and efficiency,human-machine cooperation characteristics,it provide key technical support for the development such surgical robot intervention system.

关 键 词：前列腺 靶向放疗 机器人系统 定位机构 人机交互 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]