Design And Motion Simulation Of Intervention Robot Based On MRI

MRI-compatible surgical robot technology is one of the most effective ways to improve the quality of the real-time image-guided surgical biopsy. However, nuclear magnetic resonance equipment has strong magnetic field. The equipments which are composed of iron-based materials and electromagnetic motors cannot work normally in the MRI environment, which also decrease the image quality. Therefore, the research on the MRI-based medical robot has great theoretical significance and application value.In the MRI environment, the robot design is challenged by a high magnetic field and the limited work space. Based on the requirements of application of the intervention robot in the magnetic resonance imaging environment, a new pneumatically actuated MRI-compatible clinical robot was proposed. Firstly, based on analyzing the characteristics of nuclear magnetic resonance equipments, the design requirements of MRI-compatible robot were proposed, which included the requirements of MRI compatibility, robot work space and robot structure compatibility. On this basis, the freedom degrees, configuration design and drive modes of the robot were studied, and then the robot system was presented. Secondly, by the method of allowable deflection, each part of the robot was specifically designed and optimized, such as positioning devices, directional devices and needle-insertion mechanism. All the materials and components used in the structure were made the compatibility test. And three-dimensional model of the robot system was established using the PRO/E. The robot actual work space was analyzed with the SimMechanics toolbox in Matlab / Simlink. The check of strength and stiffness of the robot was made with Ansys / Workbench. Then, the robot coordinate system was founded using the D-H method. The positive solution of robot kinematics and inverse kinematics were derived, and system transformation equations were solved. Finally, the path planning of the robot was discussed, which was made simulation using Adams software and the solutions were analyzed.This paper provides the basis for future work to build the actual prototype and surgical process control, which also has important reference value for the structural design of the robot, kinematics analysis, three-dimensional modeling and simulation, structural finite element analysis and workspace analysis.