Design And Analysis Of A Flexible Cable Driven Breast Intervention Robot Compatible With MRI

MRI guided breast interventional surgery plays a key role in the diagnosis and treatment of female breast diseases.Therefore,it is of great significance to research MRI compatible breast interventional robot.And drive mode compatible with MRI environment is the necessary condition of studying breast interventional robot.In this paper,we study the flexible cable driven breast intervention robot compatible with MRI.It uses flexible cable remote drive robot to assist doctors in breast interventional operation flexibly and accurately under MRI image navigation.Firstly,through the research and analysis of MRI compatibility and design requirements of breast interventional robot,the overall design of the breast intervention robot was proposed..In order to meet the flexible operation of breast interventional work requirements and compatibility with the closed MRI scanner,a cylindrical coordinate breast interventional robot model based on double scissors mechanism was proposed.Meanwhile,in order to meet the MRI compatibility requirements,the engineering plastics(nylon)and nonmagnetic stainless steel paramagnetic material was used to make robot.Breast biopsy as an object of study,the robot was designed from three aspects.It included the design of the breast tissue fixation mechanism,the design of the positioning mechanism based on the double shear fork mechanism and attitude adjustment and the design of posture adjustment joint and biopsy needle mechanism.Then the virtual prototype model of breast interventional robot was established by using of Solid Works.Secondly,on the basis of the breast intervention robot model,the robot coordinate system connecting rod type was established by using the D-H method.The homogeneous transformation matrix of the coordinate system of each connecting rod was determined and the inverse kinematics of the robot was analyzed and solved.Then,In order to solve the work space of the breastintervention robot and verify the rationality of the structure design,the robot simulation model was established by MATLAB/Simulink software.Thirdly,the finite element analysis of the force parts and mechanisms of breast interventional robot was carried out by ANSYS/Workbench,and the theoretical basis of the robot structure design was further provided by the simulation results.Finally,according to the MRI compatibility requirements of breast interventional robot,combined with the specific structural design of the robot,the flexible cable driving mode was determined.And the displacement transmission characteristics were experimentally analyzed.It lays a theoretical foundation for the study of the follow-up control research of robot.