The Control Program Design And Research Of Minimally Invasive Neurosurgery Robot System

With the fast development of scientific technology, there are various advanced medical image instruments, for instance: CT, MRI and so on, so the doctors can diagnose and cure the patients more accurately by using the information from the photos. However, until now, when the doctors do the neurosurgery operations, they mainly depend on the visional subjective judgement and their accumulated clinic experience to choose the operative methods. Even the experienced surgeons cannot point out the accurate places of the operative device completely.The minimally invasive neurosurgery robot system is the Computer Assisted Surgery, CAS. It is a newly developed person-machine cooperation system. By using navigation control system, CAS organizes the medical analyses of videos& photos, the auxiliary diagnostic system and robot together, further it does the programming of brain surgery tiny-injury operation and the planning of operation schedule, then it navigates the medical device held by the robot to implement the solid-posture& place operations.The dissertation base on fundamental robot principles, and it succeeds in a field that the six-free-angles robot implements the assignment controlled by automatic navigation in any special posture& place. The writer puts forward a control method and path that can manipulate the robot accurately, and such method and path provides an economical and practical surgery robot operation system that assists in a new type of computer for neurosurgery.The dissertation is based on the minimally invasive neurosurgery robot system of which development the writer participated in. Due to the complexity of the system, each developer is only in charge part of the system. The writer is mainly working on the movement controlled by automatic navigation of the robot system, and solves the dimensional reference frame conversion, the establishment of documents base and so on. So the writer finds a new way for the conversion of various tools, and designs the remote control box device in order to handle the robot systematic movement.Chapter 1 mainly introduces the development of the minimally invasive neurosurgery robot system and the research subject of the dissertation; chapter 2 ismainly about the research of the part and systematic structure of the integrated tiny-injury operation system, and deals with the whole design of the robot operation system by choosing the proper tools during the development; chapter 3 builds the mathematical mode of dimensional reference frame, and such mode makes the conversion and calibration of each reference frame come true; Chapter 4 include the content which solves the conversion of various tools and the solid-posture& place movement of operative tools during the operation process; Chapter 5 introduces the movement controlled method of operative system in detail, and the research on the automatic directed subsidiary system minutely; Chapter 6 makes a conclusion of the writer's research work on this dissertation, summary of the main work technical development in related areas the navigation of improvement on the system the technical method probably adopted and more related information.