Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors
文献类型：期刊论文
| 作者 | Cao YingYu2; Xue Long3; Qi BoJin2; Jiang LiPei3; Deng ShuangCheng3; Liang Ping4; Liu Jia1 |
| 刊名 | CHINESE JOURNAL OF MECHANICAL ENGINEERING
 |
| 出版日期 | 2017 |
| 卷号 | 30 |
| 关键词 | INSERTION SYSTEM Robot Composite configuration Interventional therapy Decoupling mechanism Intelligent positioning Composite configuration |
| ISSN号 | 1000-9345 |
| 其他题名 | Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors |
| 英文摘要 | The existing interventional therapy robots for the microwave ablation of liver tumors have a poor clinical applicability with a large volume, low positioning speed and complex automatic navigation control. To solve above problems, a composite configuration interventional therapy robot with passive and active joints is developed. The design of composite configuration reduces the size of the robot under the premise of a wide range of movement, and the robot with composite configuration can realizes rapid positioning with operation safety. The cumulative error of positioning is eliminated and the control complexity is reduced by decoupling active parts. The navigation algorithms for the robot are proposed based on solution of the inverse kinematics and geometric analysis. A simulation clinical test method is designed for the robot, and the functions of the robot and the navigation algorithms are verified by the test method. The mean error of navigation is 1.488 mm and the maximum error is 2.056 mm, and the positioning time for the ablation needle is in 10 s. The experimental results show that the designed robot can meet the clinical requirements for the microwave ablation of liver tumors. The composite configuration is proposed in development of the interventional therapy robot for the microwave ablation of liver tumors, which provides a new idea for the structural design of medical robots. |
| 资助项目 | [National Natural Science Foundation of China] ; [Science and Technology Planning Project of Beijing Education Commission of China] |
| 语种 | 英语 |
| CSCD记录号 | CSCD:6133855 |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/47081]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 作者单位 | 1.中国科学院合肥物质科学研究院肿瘤医院 2.北京航空航天大学 3.Beijing Institute Petrochem Technol, Optomechatron Equipment Technol Beijing Area Majo, Beijing 102617, Peoples R China 4.中国人民解放军总医院 |
| 推荐引用方式 GB/T 7714 | Cao YingYu,Xue Long,Qi BoJin,et al. Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2017,30. |
| APA | Cao YingYu.,Xue Long.,Qi BoJin.,Jiang LiPei.,Deng ShuangCheng.,...&Liu Jia.(2017).Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors.CHINESE JOURNAL OF MECHANICAL ENGINEERING,30. |
| MLA | Cao YingYu,et al."Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors".CHINESE JOURNAL OF MECHANICAL ENGINEERING 30(2017). |
入库方式： OAI收割
来源：合肥物质科学研究院
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