悬臂式前列腺粒子植入机器人重力矩平衡分析及实验研究

Gravitational torque balance analysis and experimentation of cantilevered prostate seed implantation robot

前列腺癌是男性泌尿系统最常见的恶性肿瘤,经会阴前列腺癌放射性粒子植入对于器官局限的早期低危前列腺癌是安全有效的治疗手段。传统的粒子植入手术是由医生手动完成的,由于手工操作的不确定性很难保证粒子植入的定位精度。提出采用机器人实现粒子植入手术,利用机器人的位姿精确控制能力解决手工操作不确定性导致的定位精度低的问题。进行了悬臂式粒子植入机器人的设计,由于悬臂结构产生的重力矩在工作时对机器人的运动稳定性产生影响,在对力平衡机构分析的基础上,在大小臂的回转关节处设计了十字交叉双弹簧平衡机构来平衡悬臂产生的重力矩,建立了悬臂式前列腺粒子植入机器人重力矩平衡的数学模型。利用Solidworks/Motion模块对引入十字交叉双弹簧平衡机构的悬臂式前列腺粒子植入机器人进行了运动仿真。基于悬臂式前列腺粒子植入机器人实验系统,分别进行了末端水平负载1 kg、竖直负载1 kg和水平竖直复合负载各1 kg情况下的平衡实验,实验和仿真结果表明悬臂式前列腺粒子植入机器人达到了设计时的预期目标,实现了重力矩的平衡。

Prostate cancer is the common malignant tumor in male urinary system. Prostate cancer radio- active particles implantation by the perineum is the safe and effective treatment for organ confined early low-risk prostate cancer. The traditional particle implantation is done manually by doctor. Because of the uncertainty of the manual operation, it is difficult to tation. A robot was presented to realize the particles guarantee the positioning accuracy of particle implan- implantation surgery. Pose accuracy control ability of robot was used to solve the low positioning accuracy caused by the uncertainty of manual operation. Can- tilevered prostate seed implantation robot was designed. Gravitational torque generated by the cantilever structure influenced the movement stability of the robot. On the basis of the analysis of force balance mechanism, cross double-spring balance mechanism was designed in the rotary joints of forearm and big arm in order to balance the gravitational torque. Gravitational torque balance mathematical model of canti- levered prostate seed implantation robot was established. Motion simulation of cantilevered prostate seed implantation robot with cross double-spring balance mechanism is performed using solidworks/motion module. Based on the experimental system of the cantilevered prostate seed implantation robot, balance experiment with the horizontal load 1 kg, vertical load 1 kg and horizontal and vertical complex load 1 kg are respectively conducted. The simulation and experimental results show that the cantilevered prostate seed implantation robot achieves the expected design requirement, and implements the gravitational torque balance.