| According to the latest cancer annual report published in the 2020 Clinical Cancer Journal,prostate cancer has become a leading cause of disruption in men’s health.It accounts for 1 in 5 of all new male cancer cases in 2020.Robotic therapy has the advantage of being small in wound areas.directness to clear goals and rapid postoperative recovery for prostate cancer treatment.Compared with CT,ultrasound imaging has the advantages of high spatial resolution and high soft tissue contrast.Therefore,MRI-guided prostate intervention robots have become the focus of research in the treatment of prostate cancer.The traditional prostate intervention institute uses a parallel penetration method to penetrate the prostate.Obstacles such as the pubic bone or blood vessels cannot be avoided,and it is difficult to penetrate the prostate gland.This paper aims to design an omnidirectional intervention robot that can replace the traditional robotic horizontal needle insertion method and realize prostate intervention from different directions and angles in different postures.togetherFirst,the design requirements of the NMR-compatible prostate omnidirectional intervention robot are analyzed and the robot specifications are determined in terms of operating area,drive,and configuration.Fully utilized the modular concept to analyze the design of mechanical structures.Design a three-degree independent positioning module and a direction and angle adjustment module when the needle is inserted.Among them,the positioning module selects a rectangular coordinate format.And the direction angle adjustment mechanism adopts the RCM remote centering mechanism design,which effectively simplifies the structure and saves space.when creating a robot due to the special working environment The material is selected from PTFE and non-magnetic stainless steel.To meet MRI compatibility requirements and use Solisworks to create a omnidirectional prostate intervention robot model.Second,establish a co-ordinate system of the prostate intervention robot based on a three-dimensional model.Then find the kinetic equations.On this basis,the forward and inverse solutions of the robot kinetics are obtained respectively.Use MATLAB software to analyze the Monte Carlo workspace.Write a corresponding program to obtain a set of effect endpoints.and use the built-in drawing function for intuitive visualization.The simulation results show that the robotic work area can meet the requirements of prostate surgery.Plan the robot’s penetration movements,intervene in the prostate and give the robot a good and good trajectory.Next,use the finite element software to analyze the core components of the robot.through stress and strain analysis Strength Z type bracket,angle adjustment mechanism gear,curved shelf.and the flexible shaft is inspected.model analysis The result is that the strength of each mechanism meets the surgical requirements.thus confirming the reasonableness of the design.Finally,the Omni-directional prostate intervention robot model is created by 3D printing technology and assembles and debugs the Omni-directional prostate intervention robot.The working block diagram of the control system is planned and the needle tip positioning accuracy experiment of the omni-directional robot is carried out on the generated experimental platform,the results are in accordance with the requirements and further improvements in accuracy can be achieved.receive Obstacle avoidance experiments have verified that the robot can break the limitations of traditional horizontal needle insertion.and achieve the insertion of a peripheral needle into the prostate lesion in all directions and angles.To meet the drive compatibility requirements under nuclear magnetic environment.This document uses the flexible shaft drive mode to examine the influence of flexible shaft speed on transmission efficiency.The results show that the flexible shaft drive can meet the error requirements in the robotic process.and lay the foundation for follow-up robot research. |
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