Reseach On General Scheme And Key Technologies Of Robot System For Preparation Of Chemotherapy Drugs

As cancer incidence and mortality rates are increasing year over year,chemotherapy as an effective method increasingly plays an important role in thetreatment of cancer. However, due to high labor intensity and other factors, manualprocess for the preparation of chemotherapy drugs leads to low dispensing accuracy,serious drugs waste, complex personnel safety protection and other problems. Robotsystem for preparation of chemotherapy drugs as an innovative solution to the problemsreceives more and more attention. This paper carries out deep research mainly focuseson the general scheme and key technologies of the system. The main contents of thispaper include the following aspects:Firstly, on the basis of investigation and analysis of manual drugs preparationproblems, functional requirements analysis is completed and system performanceparameters are confirmed. According to the result of general scheme demonstration andanalysis, main functional modules of the system are designed, and in view ofhierarchical design method, a hierarchical control model is built up.Secondly, in order to realize automatic drug preparation process planning for thesystem, drug preparation mode is classified into typical four types according to physicalstate and containing mode of chemotherapy drug. In consideration of heavy workload,complicated process and inconvenient automation features of the process planningbased on every action, several related actions are combined together to form an actionpack, and process planning based upon action pack is efficient and easy to implement.Thirdly, manipulator obstacle avoidance path planning method is studied to solvethe problem of manipulator’s safe and efficient movement in the obstacles-dottedpreparation area. The rod model of the6-DOF manipulator is established, and theworkspace of manipulator is figured out based on the kinematic model which is built upon DH modeling method. Considering the features of the work environment, a collisiondetection method is given out based on the AABB box and equivalent cylinder. Animproved artificial potential field method is used to solve obstacle avoidance pathplanning, and the algorithm flowchart is given out.Finally, to verify the effectiveness of the algorithm, programs in Matlab languageare written, results of simulation and experiments validate feasibility and effectivenessof the algorithm. Analysis of drug preparation indicates accuracy and efficiency aresatisfactory compared to system parameters.