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華中科技大學學報(自然科學版) 2020, Vol. 48 Issue (12): 13-19 DOI10.13245/j.hust.201203

欄目:自動化技術
前列腺靶向放療機器人系統設計及實驗研究
梁 藝 a , b , 汪步云 a , b , 陳友東 c , 許德章 a , b
a. 安徽工程大學機械工程學院,安徽 蕪湖 241000
b. 蕪湖安普機器人產業技術研究院,安徽 蕪湖 241007
c. 北京航空航天大學機械工程及自動化學院,北京100083
摘要 針對截石位臨床手術特點和介入性機器人干預系統的嚴苛要求,設計了懸臂關節式靶向放療機器人系統.根據機器人結構約束條件,提出了定位機構的尺寸優化算法和重力矩補償機制,以改善懸臂關節驅動能耗和運動平穩性;設計了末端力感知粒子植入機構及硬件電路,采集信號用于進針過程力反饋.根據介入性靶向置針“醫師在環”要求,設計了機器人控制系統,提出了融合粒子植入規劃、虛擬安全平面進針控制、粒子植入自動循環的人機交互方法.進行了機器人懸臂關節力矩補償效果及假體模型的半自主植入實驗驗證,實驗結果表明該機器人系統具有較好的粒子植入精度和效率以及人機協作特性.
關鍵詞 前列腺 ;靶向放療 ;機器人系統 ;定位機構 ;人機交互
Design and experimental study of robot system for prostate brachytherapy
LIANG Yi a , b , WANG Buyun a , b , CHEN Youdong c , XU Dezhang a , b
a. School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,Anhui China
b. Wuhu Anpu Robot Industry Technology Institute,Wuhu 241007,Anhui China
c. School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100083,China
Abstract 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.
Keywords prostate ; targeted radiotherapy ; robot system ; positioning mechanism ; human-machine interaction
基金資助國家自然科學基金資助項目(61741101);安徽省重點研發計劃資助項目(202004a05020013);安徽省高校自然科學研究項目(KJ2018ZD014,KJ2019A0155,KJ2019A0147);安徽工程大學創新團隊項目;安徽工程大學引進人才科研啟動基金項目(2017YQQ008).

中圖分類號TP242.3
文獻標志碼A
文章編號1671-4512(2020)12-0013-07
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文獻來源
梁 藝, 汪步云, 陳友東, 許德章. 前列腺靶向放療機器人系統設計及實驗研究[J]. 華中科技大學學報(自然科學版), 2020, 48(12): 13-19
DOI:10.13245/j.hust.201203
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