Design And Simulation Of1P2R Type Prostate Biopsy Robot

A robot application in prostate biopsy is restricted by human body structure,which puts forward a request to the robot structure and working path. In order tomake the work space and the end of the robot’s movement be well adapted to theneeds of the prostate biopsy，we combine the advantages of prostate biopsy withthe advantages of minimally invasive medical trauma, less pain, shorter recoverytime and low cost for the patient and robot with the advantages of high precision,anti fatigue and anti infection to design1P2R prostate biopsy robot.According to the study of human prostate biopsy procedure and optimalworking space to determine the1P2R robot’s structure and basic dimensions. UseSolidworks to create a virtual prototype and static analysis.Carry out the deadweight balance design according to the structuralcharacteristics, to realize that the robot arm can hover anywhere within theoperating range in the absence of any external torque, no reducer self-locking,non-brake system.Use Solidworks/Motion module to make dynamicssimulation to the balance system. Analyze the variation of the motor’s outputtorque peaks at work in the case of installing or non-installing the balancingdevice on the cantilever system to evaluate the effect of balancing device on themotor work environment.Establish the robot kinematics model by the agency of MATLAB module tostudy the robot’s workspace and path. Present a puncture path planning algorithmaccording to inverse kinematical analysis, and verify its feasibility throughMATLAB emulation to provide a theoretical basis for the development of post-robot control system.Produce the robot prototype and make verification experiment to thecantilever balancing device, so as to determine the effect of cantilever balancingdevice to the actual power output of the motor.