前列腺靶向放疗机器人系统设计及实验研究

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.