Research On The Key Technologies Of Using Robot To Replace Radioactive-sources Of Gamma-knife Equipment For Breast Cancer

Gamma-knife for breast cancer is a newly developed medical equipment, which isspecial for curing breast cancer. The radioactive sources of breast gamma-knife is Co-60,which is a radioactive subject, Because of its radioactive intensity will be attenuated with timecontinuously, and need to be replaced periodically, but the process of replacing the radioactivesources will damage the health of staff. Therefore, using robot to replace the radioactivesources is very necessary, which can both avoid radioactive damage, and can improve theefficiency and safety, based on the practice, research the key technologies of using robot toreplace radioactive-source of gamma-knife equipment for breast cancer, mainly including:(1) Summarize the development history and current research of Gamma-knife and robot.(2)According to the structure and principle of Gamma-knife for breast cancer, analyzethe main steps of using robot replace radioactive-sources and the key technologies, accordingto the characteristics of the robot and the key technologies of replacing radioactive-sources,research and design the overall solutions and specific devices and equipments of using robotreplace radioactive-sources.(3)Analyze robot coordinate transformation and pose matrix description, according to thestructure characteristics of the robot, establish the D-H link-pole coordinate system and robotkinematics equations, research robot kinematics and the inverse kinematics problems andtheir solving methods.(4)Research the basic knowledge of robot trajectory planning, analyze the process ofrobot replacing radioactive sources, plan robot motion trajectory of replacing radioactivesources, and calculate the pose matrix of key point in the path, use MATLAB programming tosolve the joints variables.(5)On the base of robot motion analysis and trajectory planning, research the method ofusing COSMOSMotion to simulate the process of robot replacing radioactive-sources,Realized the simulation. According to the result of simulation, analyze the interference, drawthe robot trajectory and kinematics curves of each joint, through the analysis of the robotkinematics curve, research the motion of robot replace radioactive-sources, and providesupport to the next step in researching real robot replacing radioactive sources.