The Design Of Drive And Control System For Mri-guided Invasive Therapy Robot

With the rapid development of our society and economics, people require better on the quality of life and health care, minimally invasive surgery with rapid recovery become more and more popular with modern people, which lead to the transition of traditional surgery from invade therapy to minimally invasive or noninvasive therapy. Magnetic resonance imaging guided therapy can help surgeon with deep observation and accurate location of lesion, at the same time, developing precision intelligent instrument or therapy robot to overcome the surgeon's manual error can achieve the goal of minimally invasive, targeted and high-efficient therapy.The task of our project is research and develop a kind of MRI-guided robot system used in minimally invasive surgery, this thesis is mainly focus on the drive and control system of such a robot. MRI-guided therapy robot needs to be MRI compatible, and so its drive and control system face more serious conditional test. In order to be compatible with the MRI scanner, we choose an improved method to drive the robot; also plenty of research work had been done on the robot control method and hardware design.First the thesis introduced the principle of magnetic resonance imaging and what MRI compatibility is; and then involved MRI-guided interventional technology. Besides we propose an overall plan for designing an MRI-guided therapy robot and its drive and control system based on DSP controller. Piezoelectric ceramic motor and pneumatic cylinder was chosen as the drive component of robot, PID control algorithm and fuzzy logic algorithm was adopted in the firmware design.The drive and control system proposed in this article can partly meet the MRI compatibility and can work well with the MRI scanner. The process of reach high control accuracy of robot is well prepared for the clinical practice of MRI- guided therapy robot.