【摘要】 在分析超声引导微波消融肝肿瘤治疗过程中扶针助手的具体扶针动作的基础上,对医学扶持机器人的系统进行了设计。该系统主要由机械系统及传感控制系统组成。介绍了"扶持机器人"系统的总体设计方案、机械设计方案、传感方案的选定及扶持机器人工作流程的制定。经过活体动物实验及初步临床实验表明,该机器人在"超声引导经皮微波消融肝肿瘤"治疗中不仅满足了安全性和稳定性要求,而且随动性更好。更多还原

【Abstract】 The system of a needle-holding robot was designed based on the decomposition of 3D needle-motion during ultrasound-guided microwave ablation of liver cancer.The system is composed of mechanical system and sense control system.The design schemes of the whole system,the mechanical system and the sensing system,and the workflow of the needle-holding robot were introduced.In vivo animal experiments and initial clinical experiments of the needle-holding robot were conducted,which indicate that the needle-holding robot is feasible,safe and flexible when it is used to hold microwave needle in ultrasound-guided percutaneous microwave ablation of liver tumor.更多还原