核磁共振环境下机器人驱动及控制传感技术研究

Research on Actuation Methods,Control,Sensor Technologies of Robotic System in MRI Environment

核磁共振成像(MRI)导向下的机器人辅助微创手术,以其对软组织的高分辨率、高精度及高效微创等特点,近年来倍受国际医学界的青睐.但受核磁仪有限结构空间和高磁场强度的限制,传统的驱动方式及传感器无法在核磁共振环境下的机器人中使用.本文针对这一领域的应用特点,总结了目前国内外主要的核磁兼容驱动方式及传感器的技术难点,并通过国内外相关研究成果介绍了其原理、控制方法及设计制造方法.经过综合对比得出了各种方法的优缺点及各自的适用场合,并指出了该领域的发展方向.

Robot assisted minimally invasive surgery guided by magnetic resonance imaging（MRI） is getting more and more attentions of the international medical field recently, because of the advantages of high soft tissue resolution, high precision and efficiency and minimally invasive. However, with the characteristics of confined physical space and high magnetic field of the MRI scanner, traditional actuation methods such as electrical motors and sensors are not MRI compatible, therefor they are not suitable for the robot in the MRI environment. According to the features of this field, the technical difficulties of the MRI compatible actuation methods and sensors were summarised. The principle, control method and design and manufacture method of them were introduced based on some related research achievements at home and abroad. The characteristics and applications of the different MRI compatible actuation and sensor methods were abtained after comprehensive comparision. Finally, the development direction of this field was concluded.