高技术通讯2018，Vol.28Issue(2)：135-142,8.DOI:10.3772/j.issn.1002-0470.2018.02.006
重力补偿式前列腺粒子植入机器人设计与分析
Design and analysis of prostate brachytherapy robots with gravity compensation devices
摘要
Abstract
A cantilever articulated robot for prostate brachytherapy is developed based on measurement workspace in the perineum of prostate and quantitative analysis for the surgery procedure.The forward and inverse kinematics equa-tions of this robot is established by the Denavit-Hartenberg Matrix and the differential method,and the correctness of the positive and inverse solution model is verified by numeric calculation.Further,the geometrical conditions of avoiding the robot's singularity configuration is obtained according to the velocity Jacobian matrix.Through the lim-it boundary searching method to solve the workspace of the mechanisms under the posture(180°,0°,90°), the workspace with xoy section is 65674mm2under z=300mm,thus,the requirements of clinical surgery are satisfied. By solving the torque equilibrium equation of the vertically crossed spring gravity compensation devices, the full balance of cantilever torque conditions and the conditions independent of the angle variable are obtained.The static drive torque simulation and the quantitative experiment are conducted, and the results verify that the vertically crossed spring gravity compensation devices can realize the full balance of cantilever torque at an arbitrary position, so the fluctuation amplitude value of driving torque can be improved and the operation stationary of a prostate brachytherapy robot system can be increased.关键词
粒子植入/运动学建模/重力补偿/工作空间Key words
seed implantation/kinematics modeling/gravity compensation/workspace引用本文复制引用
梁艺,许德章,汪步云,张永德,许勇..重力补偿式前列腺粒子植入机器人设计与分析[J].高技术通讯,2018,28(2):135-142,8.基金项目
国家自然科学青年基金(61741101),安徽省科技攻关计划(1604a0902125),安徽省然科学基金项目(1608085QF154),安徽工程大学引进人才科研启动基金(2017YQQ008,2015YQQ005,2017YQQ015)和安徽省科技计划项目(1604a0902183)资助. （61741101）
