Chinese Journal of Mechanical Engineering >

2017 , Vol. 30 >Issue 6: 1416 - 1425

DOI: https://doi.org/10.1007/s10033-017-0141-1

ORIGINAL ARTICLE

Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors

  • Ying-Yu Cao ,
  • Long Xue ,
  • Bo-Jin Qi ,
  • Li-Pei Jiang ,
  • Shuang-Cheng Deng ,
  • Ping Liang ,
  • Jia Liu
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  • 1 School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China;
    2 Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory, Beijing Institute of Petrochemical Technology, Beijing 102617, China;
    3 Department of Interventional Ultrasound, Chinese PLA General Hospital, Beijing 100853, China;
    4 Thermotherapy Integrated Radiotherapy Department, Hunan Cancer Hospital, Changsha 410013, China

收稿日期: 2016-04-12

  修回日期: 2017-04-20

  网络出版日期: 2019-07-16

基金资助

Supported by National Natural Science Foundation of China (Grant No. 2013BAI01B01) and Science and Technology Planning Project of Beijing Education Commission of China (Grant No. KM201310017002)

收起

Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors

  • Ying-Yu Cao ,
  • Long Xue ,
  • Bo-Jin Qi ,
  • Li-Pei Jiang ,
  • Shuang-Cheng Deng ,
  • Ping Liang ,
  • Jia Liu
Expand
  • 1 School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China;
    2 Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory, Beijing Institute of Petrochemical Technology, Beijing 102617, China;
    3 Department of Interventional Ultrasound, Chinese PLA General Hospital, Beijing 100853, China;
    4 Thermotherapy Integrated Radiotherapy Department, Hunan Cancer Hospital, Changsha 410013, China

Received date: 2016-04-12

  Revised date: 2017-04-20

  Online published: 2019-07-16

Supported by

Supported by National Natural Science Foundation of China (Grant No. 2013BAI01B01) and Science and Technology Planning Project of Beijing Education Commission of China (Grant No. KM201310017002)

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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.

关键词： Robot; Composite configuration; Interventional therapy; Decoupling mechanism; Intelligent positioning; Composite configuration

本文引用格式

Ying-Yu Cao , Long Xue , Bo-Jin Qi , Li-Pei Jiang , Shuang-Cheng Deng , Ping Liang , Jia Liu . Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors[J]. Chinese Journal of Mechanical Engineering, 2017 , 30(6) : 1416 -1425 . DOI: 10.1007/s10033-017-0141-1

Abstract

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.

Key words： Robot; Composite configuration; Interventional therapy; Decoupling mechanism; Intelligent positioning; Composite configuration

参考文献

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