前列腺穿刺活检手术机器人的运动控制

针对传统手工进行前列腺穿刺活检的不足，设计了多自由度穿刺活检手术机器人模型.根据穿刺活检手术对机器人自由度及精度的要求，确定了机器人的位置调整方式和传动结构，并通过Solidworks建模设计机器人的三维模型，建立了机器人的D-H矩阵，运用Matlab中的SimMechanics工具箱实现机器人的工作空间仿真.仿真结果表明穿刺针工作空间范围是可行的.机器人代替传统手工进行前列腺穿刺活检具有精度高、更加灵活的优点，可有效降低医生的手术难度，对提高前列腺癌的阳性活检率有着重要的意义.

The Motion Control of Prostate Biopsy Robot

To overcome the disadvantage of the traditional manual biopsy,a robot model with multiple degrees of freedom was designed.According to the precision demand of the biopsy,the position adjustment and the transmission mode was settled down.The 3D model of the surgical robot was designed based on Solidworks modelling and the D-H matrix was determined.The simulation of the workspace of the robot was constracted with SimMechanics toolbox in Matlab.The simulation results demonstrate that the design of the robot was reasonable and it can satisfy the working space requirement of the prostate biopsy surgery.Compared with the prostate biopsy by doctors,the surgery robot based biopsy is higher precision,better flexibility,thereby reducing the difficulty of surgery by doctors.Indeed,surgery robot is very significant for improving the positive biopsy rate of the prostate cancer.