医用经皮穿刺机器人自动进针机构设计

A Design of the Medical Percutaneous Robot Automatic Needle Mechanism

为了实现经皮穿刺的自动进针,减少手术损伤,将经皮穿刺手术建立在更科学、可控的基础上,通过分析临床需求,提出了一种摇块式自动进针机构。首先利用机构的正向运动学分析进针点的运动轨迹,然后通过对整个进针过程中进针点速度的分析评价进针平稳性,最后通过机构的动力学分析获得进针过程中输入扭矩的解析值。通过以上分析和模拟,证明医用经皮穿刺机器人自动进针机构基本能够满足临床上对机构尺寸、驱动源、进针轨迹、进针速度的要求。

In order to achieve the automatic needle percutaneous and reduce the surgical trauma, a shake block type automatic needle mechanism was developed on the basis of analysis of clinical needs of making the percutaneous surgery more scientific and controlled. First, use the forward kinematic analysis of the mechanism to describe the trajectory of the needle point, and then evaluate the stationary of the needle throughout the puncture procedure, and finally get the analytical value of the input torque through the kinetic analysis of the mechanism. Based on the above analysis and simulation, the automatic needle mechanism can basically meet the clinical requirements of the clinical, the size, the driving source, the needle traiectory and the needle speed.