Structural Design And Kinematic Simulation Of Omnidirectional Prostate Biopsy Robot

Omnidirectional prostate biopsy robot is a successful application of robottechnology in the field of prostate biopsy surgery. Complicate surgery process,low biopsy positive rate and more needle aim are the most defect of thetraditional prostate biopsy surgery, which makes the patients suffer more pains.So now we need a small volume, low cost and high precision robot which has theability to biopsy in different directions. The robot that we worked on not onlymeets the mark requirement, but also as a reference in the field of minimallyinvasive surgery.According to surgery requirement of the prostate biopsy robot, we solve theproblems based on the contradictory matrix and material-field analysis principleof TRIZ and promote the whole system function with the system theory. Firstly,in view of the modularization system idea, the whole omnidirectional prostatebiopsy robot is as a technique system, it contains two subsystems: movementsystem and needling system. Movement system is comprised of3-DOFpositioning module and2-DOF attitude adjustment module. Needling systemcontains1-DOF needling module and the front holding mechanism module.Secondly build virtual prototyping with UG5.0software and then import it intothe AView module of ADAMS software. In this module, we make the simulationof prostate biopsy robot surgery process with displacement drive and get themaximum contact force between the cam and the type_Z barb. At last, we do thekinematics analysis based on D-H method and kinematics basic knowledge.What’s more, we build the robot structure model in Matlab/Simulink andsimulate the workspace of the robot. Based on the above work, we make thestatics analysis of the whole robot and find out the parts which bear more thanothers in ANSYS. We call these parts key unit and get the deflection and then have the strength and stability check.After modeling the omnidirectional prostate biopsy robot, kinematicssimulation and static analysis of the whole robot, it verifies that the structure ofrobot is reasonable and the scheme is practicable by using TRIZ theory in thedesign of this robot.