| Minimally invasive surgery has the advantages of small trauma,quick wound healing,small patient pain and good cure effect.It has been widely used in clinical practice.It not only improves operation accuracy and operation efficiency,but also reduces the labor intensity of doctors.Therefore,minimally invasive surgery robot has also become an urgent research topic.In recent years,due to the increasing trend of male prostate disease,more and more scholars have focused on ultrasound guided minimally invasive interventional robot for prostate disease.However,under certain locations,ultrasound images cannot locate the location and posture of the puncture needle of the robot system.Effective compensation and assistance methods must be adopted.Therefore,this dissertation studies the control problem of the prostate minimally invasive interventional robot based on the electromagnetic positioning navigation.Firstly,the position and posture sensing methods of minimally invasive puncture needle for robot are analyzed,especially the feasibility and related problems of electromagnetic location sensing for robot navigation and position tracking with minimally invasive intervention system.Firstly,the position and posture sensing methods of minimally invasive puncture needle for robot are analyzed,especially the feasibility and related problems of electromagnetic location sensing for robot navigation and position tracking with minimally invasive intervention system.The finite element analysis of electromagnetic positioning is carried out based on the Maxwell method,and the overall scheme of the electromagnetic positioning and navigation system is designed.Secondly,calibration problems of ultrasonic probe calibration,puncture needle and robot system are studied,Secondly,the calibration problems of ultrasonic probe calibration,puncture needle and robot system are studied.The transformation matrix of each spatial coordinate system is represented by the quaternion method.The coordinate transformation relationship between the lesion image and ultrasonic probe is obtained.The coordinate conversion model of puncture needle,electromagnetic locator,ultrasonic probe and ultrasonic image was established.Then,the control system of prostate minimally invasive interventional robot based on electromagnetic positioning navigation is designed and studied for the specific micro invasive intervention robot body.The functional requirements of the prostate minimally invasive intervention robot are analyzed.The communication problem of the electromagnetic positioning navigation system and the control system is solved.The minimally invasive operation control of the robot system under the guidance of the navigation system is realized.The manual working state controlled by the handle is also realized.The hardware of the control system and its control circuit are designed and analyzed.Finally,the localization and control experiments of the minimally invasive interventional robot are carried out.An experimental platform for the control system of interventional robot based on electromagnetic localization is built.The interference test of electromagnetic location system and the real-time location tracking and control experiment of puncture needle are completed.The validity and feasibility of the electromagnetic positioning navigation and robot control system are verified. |
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