颅颌面肿瘤放射性粒子植入手术机器人设计与实现
Design and Implementation of Radioactive Seeds Implantation Surgery Robot for Cranio-maxillofacial Tumors

放射性粒子植入治疗术是目前治疗颅颌面肿瘤的一种有效手段，但存在手动植入精度低、手术时间长、医生遭受辐射等问题。为此结合手术特点和需求，设计了一种新型的颅颌面肿瘤粒子植入手术机器人，以实现机器人自动植入粒子辅助治疗颅颌面肿瘤的目的。本文设计了颅颌面肿瘤粒子植入手术机器人系统，完成了机器人本体和粒子植入装置的机构设计，建立了运动学方程并给出了机器人到达目标点的各关节运动学解。最后，设计了机器人连续自动植入粒子手术模式下的控制系统，完成了基于标记点的空间配准，实现了机器人自动植入粒子。实验表明，该机器人定位精度高，可安全有效的自动植入粒子，满足颅颌面肿瘤手术要求。
At present, radioactive seeds implantation is an effective method for cranio-maxillofacial tumors therapy, but it has the problems of low accuracy, long operation time and the manually inserted radiation acceptance by doctors. According to the characteristics and requirements of the surgery, an radioactive seeds implantation surgery robot for cranio-maxillofacial tumors is designed, to realize automatic implanted radioactive seeds for robot-assisted cranio-maxillofacial tumors therapy. The mechanical structure design of the robot and the device of seeds storage and automatic propulsion are completed, kinematics equation and kinematics solution formulas of the joints are established. Finally, the control system is designed in the operation mode of continuous automatic implanted seeds, and the space registration based on marker points is completed, the robot automatically implanted seeds is realized. Experiment shows that the robot has high position accuracy and can automatic implant the seeds safely and effectively, which meets the requirements of cranio-maxillofacial tumors surgery