Research Of The End Tool Of Brachytherapy Robot

Radiotherapy is often used in the treatment of tumors,including external beam therapy and radioactive seed implantation.If external beam radiation treatment is used,it will cause damage to the patient’s healthy tissues due to large radiation doses and high radiation damage.Nowadays,radioactive seed implantation is used for treatment because of its low radiation dose,small damage to the human body,long action time,and low price And so many advantages.In the treatment of seed implantation,the implantation is now done manually by doctors,which has poor accuracy and uniformity.Doctors of different levels have large differences in surgical effects and slow speed.The brachytherapy robot system can assist doctors in surgical puncture and radioactive seed implantation,which is beneficial to improve the accuracy of puncture surgery and the efficiency of seed implantation.This article will improve the accuracy and efficiency of radioactive seed implantation surgery through the research and design of the end tool of the brachytherapy surgical robot system,which mainly includes: the structure research design and controller hardware of the end tool with puncture and seed implantation functions Integrated design,construction of puncture experiment system,experimental data analysis,puncture needle strategy and control method,etc.Through specific analysis of the operating procedures of radioactive seed implantation surgery and the functional requirements of the planned end tools,and starting from improving the stability of the end tools and reducing the complexity of the end tools,this article combines theoretical calculations with modern design methods.The research designed two end tools to realize the functions of puncture and particle implantation respectively,which provided a stable and reliable end body for the followup research of the subject.At the same time,in view of the disadvantages of the existing controllers such as expensive,large size and low functional integration,this subject has completed the design of the controller hardware single board,which effectively reduces the complexity of the control system connection and greatly reduces the control system cost.Relying on the puncture end body and the controller,a puncture data acquisition system was constructed,in which the control code was mainly written.After that,the collection and processing of puncture experiment data under different variables was completed,and the effects of puncture speed,rotation angle,material hardness and other variables on puncture accuracy during the puncture process were analyzed.Through analyzing the puncture experiment data,a step-by-step angle adjustment needle entry strategy based on force feedback information was proposed,and the research on the control method of the step-by-step angle adjustment needle entry strategy was completed,which effectively improved the puncture accuracy.The step-by-step angle adjustment needle entry strategy is verified on the built puncture data acquisition system.The puncture experiment materials include layered silica gel that simulates human tissue and fresh animal tissue.After experimental verification,the step-by-step angle adjustment is completed by the control method.The needle strategy has significantly improved the accuracy of puncture and needle insertion under no control method.