Study Of Prostate Biopsy Robot System

At present, research on robot's application in surgery is paid more and more attention by relative researchers. It will not only bring a series of technique reforms, such as improving the quality of operation and reducing the damage to patient, but also change traditional concepts in surgery and promote the development of concerned subjects.This paper is devoted to some problems on a surgical robotic system for prostate biopsy. Based upon the requirements of brachy therapy and the conditions which the laboratory had, the overall scheme and the general structure of the system are designed firstly, and kinematics of the Motoman robot is analyzed, which provide theoretical basis for debugging of biopsy system and development of control software. Then the needle-insertion mechanism is designed, includes the choosing of motor and transmission scheme, as well as the strength checking of needle-insertion mechanism. Based on these, PC is used as host computer, and PLC is used as lower computer, motion control of the mechanism is carried on by using of small scale relay control circuit and serial communication with MSComm activex. Then according to practical demands, the software functions which the entire system need, as well as the design process and the function modules in the upper-computer software are described, so does the most important funictions modules: needle insertion modules. And then we complete the phased development of the system's control software and also the verification of principle for the control and operation in the system.At last, 2D data are gained by the experiment, and the reasons of the error are analysed. It includes: (1) errors in image processing; (2) position error in robot system body; (3) errors in needle-insertion mechanism. The result shows that the overall scheme and motion control scheme are reasonable and feasible.