Research On System Design And Calibration Method Of Puncture Robot

Puncture technology has always been the focus of research in the medical surgery industry at home and abroad.However,the current manual puncture technology has significant defects in precise guidance,which makes the treatment process extremely challenging,and some of the robot assisted technologies used are completely dependent on expensive imported equipment,which significantly improves the medical cost to a certain extent,so there is an urgent need for a human-machine collaborative puncture platform that can independently develop and guide to meet the needs of the country.Based on the actual needs of the hospital,this paper developed a puncture robot system,which can complete the precise puncture process through the handle control,and also can realize the extraction of the target tissue of the patient,to fill the technical gap in the field in China.Firstly,based on the on-site investigation of the hospital,this paper analyzes the technical status,and determines the configuration and main technical parameters of the puncture robot.In terms of this,the selection and model design of each part of the robot are carried out.Then the rigid body static analysis and the internal stress analysis of the finite element are performed on some key components to complete the structural design of the whole machine.Secondly,in view of the even number theory,the kinematics analysis and mathematical modeling of the robot are performed.The flexibility of the working space of the puncture robot and the flexibility of it are analyzed by MATLAB,the genetic algorithm is used to optimize the structural parameters of the robot.Thirdly,the overall scheme of the robot control system based on PC/IPC+motion control card is adopted,the Altium Designer platform is used to make the wiring board,so as to realize the efficient wiring of each hardware.The construction in software control system of the puncture robot and the design of the machine interaction interface are carried out by Lab VIEW,and finally the puncture experiments verify the structural design of the puncture robot is reasonable,and the performance range of the puncture needle's rotation angle meeting the actual technical parameter index.Finally,a calibration tooling and a calibration method of dual-robot base coordinates calibration which called "three-point measurement marking method" are proposed to realize the base coordinate positioning of the puncture robot in the medical collaboration system,the calibration system performs related experiments on the dual-robot platform.The results show that the calibration method can achieve the fast and low-cost calibration of the dual-robot base coordinate system,and it has strong technical support for the application of the puncture robot in the multi-robot collaboration system.