Research And Design Of MRI Compatible Puncture Surgery Location Robot

Puncture surgery is a kind of common minimally invasive surgery. The location needs to be operated under medical imaging, and its success always depends on the physician's experience, which has many shortcomings. The combination of the robot and medical image technology make the location be more accurate, and in the same time, the success rate of one-time surgery has greatly improved.This paper first studies the puncture surgical and MRI imaging knowledge, and analyses the robot compatible problem in surgery under MRI environment, including work space compatibility, driven compatibility and material compatibility, and decides the research purpose of realizing accurate location of puncture surgical by driving the location and orientation structure under the MR-image guided.In this study, based on the MRI-compatibility, the robot design program is that the robot used SCARA-type configuration as the main body, which can automatically complete location, orientation and puncture. Under this program, the robot's mechanical structure is designed, including six active and two passive degrees of freedom which can achieve the position and attitude control in the space of the end effector, especially the auto motion of the puncture process to make the surgery more accurate and reliable. The robot's main part is SCARA-type, and the reign of posture uses parallel mechanism which is convenient to achieve posture control. At last movement of the robot are analyzed, including normal working space and inverse kinematics analysis, and the analytical solution or the numerical results have been got finally.This paper also realizes the control system of robot. First the hardware has been selected to complete the overall structure of the control system, and decide the control program of using PLC as the core part, by the control of relay to achieve different cylinder's motion. The C programming were completed according to the different control. At the same time a pneumatic circuit was built, and based upon the circle, the pneumatic step motors'control is done, at last the mechanical parts of the robot's movement is realized.C-arm guided renal biopsy positioning system's modification is also reminded in this paper. The feasibility of the system is verified by clinical trials but many deficiencies were also found. Through the analysis, identified the rectification plan, and completed the prototype's design and manufacture.