| As one of the most important research fields in surgical robot area,percutaneous surgery robot can assist the doctor to locate the puncture target.It can improve the surgery accuracy and significantly reduce the puncture time and the number of punctures at the same time,thus reduces the pain of patients.So the percutaneous surgery robot has important clinical significance.In order to solve the problems of large volume,less flexible workspace,poor flexibility and low degree of automation,a new type of percutaneous surgery robot system is designed.This thesis mainly includes:1)A new type of 5DOF parallel link type puncture operation robot is proposed.The kinematic characteristics of the structure have the advantages of large working space,good flexibility and small size of the articulated robot,and the advantages of simple and convenient operation and high positioning accuracy of the three coordinate robot.And the working space of the manipulator is analyzed and verified by Monte Carlo algorithm2)The forward and inverse solution equation of the manipulator is derived by DH method.Based on the analysis of the static characteristics and the theoretical positioning accuracy of the manipulator,the selection of the standard parts and the design of the structure are completed.3)A high repetitive positioning lifting and positioning base used for bedside is designed.It can ensure the robot being used repeatedly with just one time calibration,thus can greatly simplify the using process,and improve the working efficiency.4)Combined with MATLAB and LabVIEW,the robot's host control software and the terminal control system are designed.It realizes the reconstruction of the 3D images of the lesionby Marching Cubealgorithm. |
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