MRI-guided Breast Puncture Surgery Robot Structural Design And Simulation Analysis

MRI image navigation The application of surgical robots is an important direction for the future development of minimally invasive interventional surgery.However,MRI has the characteristics of small space and high magnetic field,which severely limits the application of robotic technology in MRI environment.Therefore,Research has very important theoretical significance and application value.This project is designed to study a minimally invasive surgical robot system that performs biopsy or particle implantation of breast cancer under nuclear magnetic image navigation.It is not only related to the medical field but also closely related to the mechanical field.This study first analyzes the characteristics of nuclear magnetic compatibility,specifically for the breast cancer tumor biopsy surgery,designed and researched the key technologies of MRI navigation breast puncture surgery robot system.The main research contents of this topic include:Firstly,the compatibility problems in MRI environment are studied.The compatibility problems include material compatibility,structural compatibility and driver compatibility.Secondly,robot structure design is carried out.According to the characteristics of breast surgery in MRI environment,a systematic scheme of robot design was proposed.The robot type was determined to be tandem type,and the robot topology was divided into three modules.Determine the robot drive mode for the wire drive,the purpose is to arrange the drive source outside the NMR,access to better NMR compatibility and organizational design flexibility.The 3D model of mammary gland treatment robot was established by using SolidWorks software.Then the kinematics analysis of the robot was carried out.The robot coordinate system was established by DH method.The robot coordinate transformation matrix was used to calculate the positive and inverse kinematics of the robot.Then the motion simulation analysis of the virtual prototype of the treatment robot with ADAMS / View,The three-dimensional model was introduced by direct import method,and the rigid body of breast tissue was transformed into a flexible body by adding restraint,driving and touching,and the contact force curve of the end effector needle and tissue and moving plate with tissue was simulated.;finally,using ANSYS / Workbench analyzes the static state of the robot as a whole,analyze the deformation of the whole and key components of the operating table under the static load environment.In this paper,the establishment of breast robot virtual prototype model and the analysis of the model to prove that the overall design of the robot is reasonable and laid a solid foundation for the further study of breast treatment robots.