Research On Surgical Robotic System Based On Image Fusion For Brachytherapy

This paper is focused on the research of brachytherapy surgical robotic system based on image fusion and intends to develop a surgical robotic system for treatment of prostate cancer.Primary contents of research consist of modeling and processing of robot,design and construction of control system,accuracy experiment of robotic system.The main research works and innovations in this paper are as follows:At the beginning of research,robotic designing and modeling are accomplished.According to the need of prostate cancer brachytherapy,the concept of surgical robotic system is proposed.The robot is a series compact configuration with 8 degrees of freedom and comprises five parts: mobile part,supporting part,rotation adjustment part,probe precise motion part and template precise motion part.Those parts are modeled and optimized successionally until the three-dimensional robotic model is reached to the manufacturing level.Secondly,the capacity of the robot is verified and the prototype is processed.The forward and inverse kinematics of the robot are formed through D-H method,which verify the robotic working space.Under the various position of robot,analysis of mechanical components is carried out through finite element analysis software.Processing of prototype is accomplished after the selection of materials.Thirdly,control system is designed.After comparing the characteristic of PLC and embedded controller,the embedded microcontroller based on ARM is used as the control core.We complete hardware works that include the selection of motor and the space layout.Also,logic control algorithm and interface of PC are finished.The whole control system is built eventually.Finally,analysis experiment is conducted.Results of the experiment show that average error of surgical robot is within the error range of ±1mm and ±0.8°.And after the error compensation,the average error of the electromagnetic positioning instrument is less than 0.5mm.The above work verifies the feasibility and work ability of the system.