Study Of Robot System For Percutaneous Insertion Surgery

Robot assisted medical system has become one of the most important directions among robot studying fields. Minimally invasive surgery (MIS), known for its small trauma, little pain, and quick recovery and its high need for implement accuracy and stability, is quite suitable to be assisted by robot. After studying mass of papers about percutaneous insertion surgery assisting robot made by foreign countries, a percutaneous insertion surgery robot which is safe, reliable, easy to operate direct to view is developed and direction adjustment algorithm and force control algorithm are also studied here.According to the high demands for safety, visualizability, operationality of percutaneous insertion surgery, the configuration of this robot is setted by analyzing different machines. The robot is set with 5-DOF including a PPP arm and a 2 joints wrist. The performance index and size are optimized on basis of the demand of surgery, and then parameters of this 5-DOF robot are fixed. Additionally, the hand of the robot which is easy to replaced and sterilized is designed.The hardware system designed includes choosing of motors, force /torque sensor, drivers, control card and designing of the connecting PCB, location limitation hardware and the PCB going with it. These offer the robot the capability to operate and apperceive force needed.On the base of kinematics analysis, working space is established. To realize the appointed operations of percutaneous insertion surgery, a kind of algorithm is designed. With the tool Visual Basic 6.0, a human-robot interface is programmed basing on the algorithm. This software will lead the operator go through the whole surgery easily.A robot test platform has been built to validate the validity and stability of both the mechanical system and control system. A group of tests, including single axis test, insertion veracity test, insertion capability test, needle tip location adjustment test, and needle direction test, are designed and test data are collected. It is proved the robot can work as expected, and the robot can carry out the percutaneous insertion surgery easily.