三维超声导航前列腺近距离放射性治疗机器人设计和分析
首发时间:2015-11-24
摘要:基于接触式方法测量的前列腺会阴处操作空间和手术过程量化分析,研究了一种悬臂关节式前列腺近距离放射性治疗机器人。本文采用D-H参数法和微分法建立该机器人运动学正、逆运动学方程,通过数值计算验证了正、反解模型的正确性,并根据速度雅克比矩阵求得了避免机器人奇异性位形的几何条件。利用极限边界搜索法求解固定姿态(180?,0?,90?),z=300mm时yoz工作空间截面为65674mm2能满足临床手术的要求。
关键词: 前列腺近距离放射性治疗 悬臂关节 运动学建模 工作空间
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Design and analysis of the prostate brachytherapy robot under 3D TRUS guidance
Abstract:This paper developed a cantilever articulated robot for prostate brachytherapy, based on measurement workspace in the perineum of prostate and quantitative analysis for the surgery procedure. The forward and inverse kinematics equations of this robot was established by the Denavit-Hartenberg Matrix and differential method, and forward and inverse model is correct which verified by numeric calculation, further, we also obtain geometrical conditions that the robot can avoid singular configuration by velocity Jacobian matrix.Through the limit boundary searching method to solve the workspace of this mechanisms under the posture with (180?,0?,90?), workspace with xoy section was 65674mm2 under z=300mm, it also meet the requirements of clinical surgery.
Keywords: prostate brachytherapy cantilever arm kinematics modeling workspace
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