Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle swarm optimization  

作　　者：Jiawen YAN Bo PAN Yili FU 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Frontiers of Mechanical Engineering》2022年第1期18-33,共16页机械工程前沿（英文版）

基　　金：This paper was supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51521003);the National Natural Science Foundation of China(Grant No.61803341);the Self-Planned Task of State Key Laboratory of Robotics and System(Harbin Institute of Technology,China)(Grant No.SKLRS202009B).No conflicts of interest exist in this paper.

摘　　要：Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and treatment.The limited space for robot manipulation restricts structure volume and motion.In this paper,an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation,needle positioning,and needle insertion.A novel parallel structure is employed in the robot system for space saving,structural rigidity,and collision avoidance.The particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure accurately.The method identifies parameters in the modified kinematic model stepwise according to parameter discernibility.Verification experiments prove that the robot system can realize motions needed in targeting.By applying the calibration method,a reasonable,reliable forward kinematic model is built,and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point,respectively.

关 键 词：ultrasound image guidance prostate percutaneous intervention parallel robot kinematics identification particle swarm optimization informative value 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]