Research On Embedded Control System For Needle Insertion Of Interventional Therapy

The movement of the social and technological progress, healthy concept, healthy fashion and approach of people are deeply changing. Needle insertion is perhaps the most widespread surgical technique in existence. It is a critical aspect of many medical diagnoses, treatments, and scientific studies, including percutaneous procedures requiring therapy delivery to, or sample removal from, a specific location. Improving the automation of the process of needle insertion can reduce the operator's man-made factors such as skill level requirements, improve the accuracy and efficiency of needle insertion, and minimize the injuries of patient's organs and major vascular. So it becomes the future development trend of clinical medicine.We firstly analyzed the process of realizing needle insertion. Based on the single-chip system of SPCE061A, combined with the machine designed for needle insertion, we had developed an embedded control system to realize the process of needle insertion. This thesis made some significative exploration in machine of needle insertion, control circuit, real-time character of control system and so on, and researched the correlative technique.This thesis mostly researched the control and drive of needle insertion system, adopted the chip of SPCE061A as main processer to develop the control circuit board, combined with the step motor driver, and realized accurate control for displayment and rotation of needle. In order to simplify the design of application program and improve real-time character of control system, this design transplanted the real-time kernelμC/OS-II into the SPCE061A, and elaborated the code and optimization of transplantation in detail. According to the process of realizing needle insertion, the control program was divided to corresponding multitask and these programs were developed respectively, so the whole embedded control system was established. The result of experiment and simulation indicated that the design of control system is proper, and the embedded control system for needle insertion has high control accuracy and excellent performance.