Research Of High Intensity Focused Ultrasound Tumour Treatment System

High intensity focused ultrasound tumour treatment system is a complicated system which gather together focalization, orientation, imaging and control. The orientation system is the cross theoretics of ultrasonics and robotology.The treatment principle and the work process of the high intensity focused ultrasound tumour treatment system are introduced simply in the text. So do a few key techniques of the system.The old orientation system structure of the therapy apparatus in the company has been analyzed. And a new structure project has been designed based on the old project after a few shortages and missing parts of the old project were found out. Both of the problems were solved. All of the part's drawings have been drawn and modeled with Auto CAD and UG.The assembly of the model has been interference checked and kinematics analyzed. A new design idea of the small up-down part has been explained particularly for increasing the work space after the factor influencing the structure work space was analyzed. And the work space of the structure has been modeled. The work space contents the need. Based on the work principle of the move structure, a series of treatment tracks are studied out.The kinematics model and the pose errors model of the orientation system have been obtained according to transform matrix. What's more, the influence, which the parameter of the structure imposed to the structure, has been simulated and got the result by using the model of pose errors.By means of no trace searching theory, the maximum of joint motion torque in whole work space has been worked out. The basic theory of no trace searching method to get limit torque has been explained and the simulation date has been gained. In addition, a method has been represented to select electric motor. And all joint's appropriate motor of the orientation system has been chosen by dynamic simulation date and the method choosing motor.The motion torque and load of the structure not were obtained simple by statics analysis and formula but have been simulated by computer in the course of choosing motor. So the parameters have been chosen exactly and reasonably.