Auxiliary Arm System For Surgical Treatment Of Liver Involvement

With the development of medical technology , MIS(Minimally Invasion Surgery) becomes the developing trend of medical surgery.The MIS has many merits such as little wound, rapid recovery and better results. Researching and developing the auxiliary system can make MIS more accurate, safty, effcient So the auxiliary becomes the new focus of medical research. Auxiliary arm system as an important part of the auxiliary system can give doctors a necessary help, that can reduce the difficulty of the surgery, shorten the sugery time, and more importly reduce the pain of patients. Base on research both home and aborad, according to the characters of liver invasion surgery, this paper has designed one kind of auxiliary arm system for liver invasion surgery.According to the characters of liver invasion surgery, this paper has analysis the mechanical structure of the auxiliary arm. After compared advantages and disadvantages of different mechanical structures, this paper has design one structure which can meet the demands of visual, safety and operability simultaneously .This strcuture has 5 DOF(degrees of freedom), can give the accurate positioning and indicate the puncture needle path of liver invasion surgery. After that, this paper has designed Electronic Control System for the arm, which contains Motors, drives, motion control cards, limit switches, electromagnetic position tracking device.By using D-H method this paper established a kinematic coordinate for the mechanical structure of the arm, and solved the direct displacement of kinematics; analysised the work space of the work part of the arm, and calculated the Jacobian matrix of manipulator.This paper has written the motion control software, by using Visual C++ tools, this control software can ensure that the arm can run accurately, safty and stable.By using the function of location tracking of electromagnetic position tracking device, this paper has designed a experiment to test the accuracy of the arm, and found out the deviations. The results of the experiment proved that the auxiliary arm system can work in the way which it has been desigened,and it can help doctors do the Invasion Surgery more easily and accurately.