Human-computer Interaction Control Of Prostate Seed Implantation Robot

With the improvement of the modern living standard,the incidence of prostate cancer is increasing.Prostate particle implantation surgery use the method of target treatment.Its advantage is that it is less harmful to the human body,the patients is easy to recover and the recurrence rate is low,so Prostate Particle Implantation has been widely used in the treatment.Prostate implant robot make up for the defect of traditional surgery.The existing control system of the prostate particle implantation robot is complicated in operation,high professional requirements,poor practicality and low intelligence.In addition,the human-machine interactive control system is the core of the robot,so I design a Prostate Particle Implantation Robot Human-Computer Interaction control System in this paper.Firstly,the prostate particle implantation robotic model is established and its motion is analyzed and simulated.The kinematics model of the robot is constructed basing on the D-H method,then the kinematics and inverse kinematics of the robot are solved.The trajectory planning of robot kinematics and space motion is simulated by the robot toolbox in MATLAB,the correctness of the positive and negative kinematics analysis is verified,and the changes of the speed and acceleration during the motion are analyzed.Secondly,basing on the principal and subordinate heterogeneity of prostate particle implantation robot,a master-slave mapping strategy in Cartesian coordinate system is established:incremental location mapping,proportional mapping,master-slave mapping,and master-slave uniform mapping.In order to improve the safety and performance of the robot system,a collision avoidance method,a digital filtering algorithm of main operator signal and a force feedback method of particle implanted external needle are designed.On Visual Studio 2012 software,using C++ language to develop interactive software.According to the function of the robot,the software system structure and function module are designed to construct a man-machine interface that is good in real-time,and easy to maintain and optimize.Meanwhile,the fault tolerance is set up.Finally,the experimental platform is set up to conduct master-slave followup experiment,acupuncture needle precision experiment and implanting needle resistance experiment.The experimental results are analyzed,and it show that the real-time follow-up of the master-slave robot with particle implanting robot is good,the precision of the needle is good and the resistance of the outer needle is regular.The hand-eye coordination,flexibility and safety of the interactive system is well.