Motion Analysis And Design Of Minimally Invasive Breast Surgery Robot

At present,the development of medical surgery robot has been promoted to the national strategic needs,and robot assisted doctor operation has become a new treatment method.In this paper,a new type of minimally invasive breast interventional surgery robot technology is studied in view of the urgent needs of breast cancer diagnosis and treatment.Based on the review and analysis of the minimally invasive breast interventional surgery robot and high precision puncture method,combined with the current status of breast biopsy,a design scheme of the puncture robot is proposed,which is composed of passive joint and active puncture end.The doctor is responsible for the operation of passive joints,moving the end of puncture to the puncture point,and the end of the puncture is actively operated on.At the same time,the research on the surgical navigation system and high precision puncture method is carried out,aiming to improve the positioning accuracy of puncture point and the accuracy of tumor puncture,and make up for the limitation of passive joint design.According to the physiological shape of breast,a 5-DOF puncture device is designed and a prototype is made.At the same time,the structure design of the quick removable mechanical interface and breast tissue fixation device is carried out.The kinematics model of the five degree of freedom puncture device is established by D-H method,and the forward and inverse kinematics are solved.The connecting rod model and working space of the 5-DOF puncture device are simulated by MATLAB,which verifies the rationality of the mechanical structure and parameter design.Aiming at the measurement scale,an ICP navigation registration algorithm based on coordinate scale calculation is proposed.The feasibility of the algorithm is verified by simulation experiments.At the same time,based on Opti Track 3D motion capture system and3 ds Max 3D software,the navigation experiment platform is built.The calibration of passive positioning probe and the registration of 3D image space and navigation system space are completed,and the visualization and real-time tracking of puncture position and posture are realized.Based on the task requirements,a multifunctional puncture experiment platform was built,and the liver puncture experiment was designed to obtain the puncture data.The Winkler friction model was further modified by introducing viscosity coefficient.A high precision puncture method based on preload is proposed.The pre loading puncture experiment and high precision puncture method experiment are completed,which verify the feasibility of the high precision puncture method.The research of this project shows that the design of the active and passive operation robot based on optical navigation and high precision puncture method has a good application and popularization value.