Research On Robot Navigation And Orientation In Neurosurgery Robot System

At present, research on robot's application in surgery is paid more and more attention to by relative researchers. It will not only bring a series of technique reforms, such as improving the quality of operation and reducing the damage to patient, but also change traditional concepts in surgery as well as promote the development of subjects concerned.Four aspects are mainly discussed in this dissertation.(1). Based on neurosurgery and selected robot of model MOTOMAN-UP6 as implement, this thesis concentrates on the experimental research on robot's navigation, which belongs to the seedtime of neurosurgery robot system and can provide technical reference to the system.(2). Operation scheme for the robot and its requirements are given. Based on the registration and mapping of markers, the coordinate of focus is transformed from the 3D image space in computer to the operation space in robot, and the mapping error of focus is simulated by MATLAB.(3). According to the Euler rotation and homogeneous transformation, mathematic models of operation tool's location (position and orientation) and tools' automatic exchange are built, and the parameters for navigation are calculated. Experiments of navigation are done, and the operation errors are measured.(4). The navigation with robot is realized by external host control computer through off line programming which calls the functions in the library of data communication software MOTOCOM32. According to practical demands, the control software of surgical navigation system of robot-assisted neurosurgery is developed.The result of experiments proves that the synthesis location error of focus caused by robot's navigation is less than 3mm.