| THMR-I介入治疗机器人系统的研究及其临床应用 |
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| 引用本文： | 熊琝,陈恳,杨向东,刘少丽,冯涛,梁萍.THMR-I介入治疗机器人系统的研究及其临床应用[J].高技术通讯,2009,19(12). |
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| 作者姓名： | 熊琝 陈恳 杨向东 刘少丽 冯涛 梁萍 |
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| 作者单位： | 1. 清华大学精密仪器与机械学系,北京,100084;清华大学摩擦学国家重点实验室,北京100084
2. 中国人民解放军总医院超声科,北京,100853 |
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| 摘 要： | 为实现完整的图像引导-机器人主动定位-辅助穿刺的机器人辅助介入治疗手术流程,针对超声引导腹腔介入治疗的特点设计了THMR-I介入治疗机器人系统,在设计上重点考虑了针对临床的可靠性和安全性.该机器人通过五自由度串联机构实现了大角度准确主动定位.根据临床工作环境的要求求解机器人运动学,分析了系统误差组成,并通过坐标系统标定建立了定位装置与机器人之间的映射关系,实现了机器人系统和图像导航系统的协调工作.精度实验证明,机器人子系统满足腹腔穿刺的精度要求并具有足够的裕量.THMR-I机器人在临床囊肿穿刺手术上的成功应用验证了超声引导机器人辅助介入治疗系统的可靠性和安全性、有效性及精度.
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| 关 键 词： | 介入机器人 可靠性 运动学 精度 临床应用 |
Interventional robot system THMR-I and its clinical application |
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| Xiong Jing,Chen Ken,Yang Xiangdong,Liu Shaoli,Feng Tao,Liang Ping.Interventional robot system THMR-I and its clinical application[J].High Technology Letters,2009,19(12). |
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| Authors: | Xiong Jing Chen Ken Yang Xiangdong Liu Shaoli Feng Tao Liang Ping |
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| Affiliation: | Xiong Jing~(***),Chen Ken~(***),Yang Xiangdong ~(***),Liu Shaoli~(***),Feng Tao~(***),Liang Ping~(***) ( * Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084) (** The State Key Laboratory of Tribology,Beijing 100084) (*** Department of Ultrasound,General Hospital of PLA,Beijing 100853) |
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| Abstract: | To realize the robot-assisted interventional therapy procedure consisting of image guiding, active positioning and assisted puncturing, and according to the characteristics of the clinical interventional therapy, an interventional robot system THMR-I is designed, with the clinical reliability and safety being considered especially. The robot realizes the wide angle active locating through a 5-degree-of-freedom mechanism. This paper describes its inverse kinematics based on the clinical environment, and anal... |
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| Keywords: | interventional robot reliability kinematics accuracy clinical application |
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