超声引导经皮微波消融扶持机器人机械系统的研制

为了解决超声引导经皮微波消融肝肿瘤手术治疗中由于人工扶持微波针影响临床治疗效果的难题，研制了超声引导经皮微波消融肝肿瘤的“扶持机器人”。“扶持机器人”主要包括机械臂、机械手及传感跟踪控制系统等，笔者着重对其结构特点、动作原理、设计要点进行了分析与说明。实验结果表明，该机器人在“超声引导经皮微波消融肝肿瘤”治疗中对微波针的稳定扶持是安全、可行、有效的，它不仅减轻了医生的劳动强度和不必要的人力、物力资源的浪费，而且提高了整个消融治疗的效果。

The Design of The Mechanical System of The Needle-Holding Robot for Ultrasound-guided Percutaneous Microwave Ablation of Liver Tumor

In order to decrease influence of human factor during holding of microwave needle and free the two hands of needle-holding assistant, a needle-holding robot was developed and studied to take the place of assistant to fulfill stable holding of microwave needle during the procedure of liver tumor ablating. The key technology includes the needle-holding robot, mechanical arm, me- chanical hand and the technology of sense tracing control. This paper especially analyzes and ex- plains the character of the mechanical system, the dynamic principle and the key point of design. The experiment demonstrates that needle-holding robot is feasible, safe and effective when used to hold microwave needle in ultrasound-guided percutaneous microwave ablation of liver tumor. The labour intensity and the medical resource can be reduced by using needle-holding robot, and at the same time the effect of tumor ablating can be increased.