机械科学与技术2017，Vol.36Issue(3)：341-346,6.DOI:10.13433/j.cnki.1003-8728.2017.0303
颅颌面肿瘤放射性粒子植入手术机器人设计与实现
Design and Implementation of Radioactive Seeds Implantation Surgery Robot for Cranio-maxillofacial Tumors
摘要
Abstract
At present,radioactive seeds implantation is an effective method for cranio-maxillofacial tumors therapy,but it has the problems of low accuracy,long operation time and the manually inserted radiation acceptance by doctors.According to the characteristics and requirements of the surgery,an radioactive seeds implantation surgery robot for cranio-maxillofacial tumors is designed,to realize automatic implanted radioactive seeds for robot-assisted cranio-maxillofacial tumors therapy.The mechanical structure design of the robot and the device of seeds storage and automatic propulsion are completed,kinematics equation and kinematics solution formulas of the joints are established.Finally,the control system is designed in the operation mode of continuous automatic implanted seeds,and the space registration based on marker points is completed,the robot automatically implanted seeds is realized.Experiment shows that the robot has high position accuracy and can automatic implant the seeds safely and effectively,which meets the requirements of cranio-maxillofacial tumors surgery.关键词
颅颌面肿瘤/手术机器人/空间配准/粒子植入Key words
cranio-maxillofacial tumors/surgery robot/space registration/seeds implantation分类
信息技术与安全科学引用本文复制引用
段星光,陈宁宁,王永贵,孔祥战..颅颌面肿瘤放射性粒子植入手术机器人设计与实现[J].机械科学与技术,2017,36(3):341-346,6.基金项目
国家863计划项目(2012AA041606)与北京市科技计划项目(Z14110000201400320140239073)资助 （2012AA041606）
