| 医学扶持机器人的系统设计 |
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| 引用本文： | 曹俊芳,蒋力培,邓双成,曹莹瑜,王保山. 医学扶持机器人的系统设计[J]. 北京石油化工学院学报, 2009, 17(2): 32-35 |
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| 作者姓名： | 曹俊芳 蒋力培 邓双成 曹莹瑜 王保山 |
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| 作者单位： | 北京石油化工学院光机电装备技术重点实验室,北京,102617;北京石油化工学院工程教育中心,北京,102617 |
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| 摘 要： | 在分析超声引导微波消融肝肿瘤治疗过程中扶针助手的具体扶针动作的基础上,对医学扶持机器人的系统进行了设计。该系统主要由机械系统及传感控制系统组成。介绍了＂扶持机器人＂系统的总体设计方案、机械设计方案、传感方案的选定及扶持机器人工作流程的制定。经过活体动物实验及初步临床实验表明,该机器人在＂超声引导经皮微波消融肝肿瘤＂治疗中不仅满足了安全性和稳定性要求,而且随动性更好。
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| 关 键 词： | 微波消融 扶持机器人 机械手 |
System Design of A Medical Needle-holding Robot |
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| Cao Junfang,Jiang Lipei,Deng Shuangcheng,Cao Yingyu,Wang Baoshan. System Design of A Medical Needle-holding Robot[J]. Journal of Beijing Institute of Petro-Chemical Technology, 2009, 17(2): 32-35 |
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| Authors: | Cao Junfang Jiang Lipei Deng Shuangcheng Cao Yingyu Wang Baoshan |
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| Affiliation: | Cao Junfang1 Jiang Lipei1 Deng Shuangcheng1 Cao Yingyu1 Wang Baoshan2(1.Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory,Beijing Institute of Petro-chemical Technology,Beijing,102617,2.Engineering Education Center,102617) |
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| Abstract: | The system of a needle-holding robot was designed based on the decomposition of 3D needle-motion during ultrasound-guided microwave ablation of liver cancer.The system is composed of mechanical system and sense control system.The design schemes of the whole system,the mechanical system and the sensing system,and the workflow of the needle-holding robot were introduced.In vivo animal experiments and initial clinical experiments of the needle-holding robot were conducted,which indicate that the needle-holding... |
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| Keywords: | microwave ablation needle-holding robot mechanical hand |
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