Research On System Design And Control Methods For Percutaneous Surgery Robot

Minimally percutaneous microwave ablation(MPMA)is a treatment of lung tumors using microwave thermal effects.The current puncture surgery lacks real-time needle path guidance,so doctors can only rely on preoperative planning and their own superb techniques to carry out the operation,which is toilsome.In addition,multiple punctures can eas:ily cause complications such as pneumothorax.Therefore,the application of surgical robots in percutaneous surgery can greatly improve the surgical accuracy and increase the success rate of surgery,which is of great value in theoretical research and actual practice.In this paper,a percutaneous ablation robot which is convenient for doctors to operate remotely is designed,and the related auxiliary functions are developed.The main content includes the following parts:1)Platform construction of the percutaneous ablation robot.The robot system platform includes two parts:a mechanical structure platform and an electrical control platform.According to the decoupling concept of surgical task,the mechanical structure platform is divided into four parts,including a back-end mobile platform,a front-end rotary joint,an end-entry needle mechanism and a six-dimensional force measurement module.2)Puncture needle trajectory planning.In this paper,the forward and inverse kinematics analysis of the robot system is firstly carried out.Then,the special characteristics of the Dual-X-ray image environment used in the operation process are analyzed in detail.Finally,the needle trajectory planning was completed under the constraints of Dual-X-ray image and the remote central motion(RCM).3)Development of zero force follower system.Firstly,through the gravity compensation of the six-dimensional force sensor,the following motion under the action of small contact force is realized.Then,a simulated breathing platform is constructed.And the impedance control algorithm is used to realize the development of the robot’s respiratory following system.,which proves its feasibility and effectiveness.