Design Of A Robot System For Puncture Surgery

The medical industry is related to the people's livelihood and is an indispensable core industry in China's scientific development.With the development of the Internet and the machinery industry,medical assist robots have gradually become popular on the stage.Percutaneous puncture surgery robots are under the guidance of the imaging equipment,in accordance with the path planned by the doctor,a small-volume surgical puncture needle is introduced into the patient's pathological tissue and organs,the desired cell sample is taken out or the drug is sent to the part of the need to be treated,and then withdrawn from the body.The wounds caused by the patient are small and quick to recover,easy to operate,economical,and highly safe.This article focuses on the puncture surgery robot system for superficial organs.Starting from three aspects,the mechanical part analyzes the principle of motion of the conventional mechanism and summarizes the corresponding model.This article designs a three-degree-of-freedom spatial positioning mechanism,realizes translation in the X,Y,and Z directions,and a deflection mechanism of one degree of freedom to achieve adjustment of the angle of needle insertion.And a degree of freedom of the end of the implementation of institutions,control the straight needle needle back,and the various major parts of the model and size of the detailed design and verification;In the hardware part,a modular design is used to implement the circuit design of the central control system FPGA module,including the crystal oscillator,power supply,reset and isolation circuits,the level conversion design of the motor drive module,and the data acquisition module,and the selection of the sensor is performed.Signal amplifier circuit,limiter circuit,AD sampling circuit and USB communication circuit design;software part,using Verilog HDL language for motor drive function,AD sampling function and USB communication function design and implementation,combined with quartusII software tool for the corresponding simulation verification.The system designed in this paper,the space positioning mechanism and the deflection mechanism can make the puncture needle reach the designated needle entry point,and the puncture speed can be adjusted in real time through the penetration depth and the force of the puncture needle to achieve needle withdrawal.After the test,the overall error of the robot was within 1mm to meet the surgical needs.