Research On Design Of Puncture Operation Arm In Nuclear Magnetic Environment

Along with the progress of robotics and the innovation of medical technology,integration of medicine with robotics has become one of the development tendencies of surgical operation.As an important branch of surgical operation,puncture operation possesses dual effects in biopsy and guidance therapy and accordingly obtains extremely extensive application in clinical practice.However,at present,the puncture operation is still inseparable from manual work and could not realize real-time imaging of body tissues and puncture needle inside patients.All of these aggravate the difficulties and risks of puncture operation.At the same time,the popularity of medical NMR(nuclear magnetic resonance)enables doctors to observe various body tissues inside patients out of its advantage in non-radiation and clear imaging.Consequently,by replacing robotic operation with manual operation,medical NMR reduces the difficulty of puncture operation,eases the psychological burdens of both patients and doctors,improves the reliability of operation and propels the advancement of medical treatment cause.Based on the study of puncture operation mechanical arms under nuclear magnetism environment,this thesis designs a puncture operation mechanical arm applicable for the nuclear magnetism environment.Prime research contents include the following few aspects:Firstly,in consideration of the specific features in nuclear magnetism environment,the thesis starts from configuration compatibility and high-intensity magnetic field compatibility to think over the nuclear magnetism compatibility of mechanical arms and intends to develop the puncture operation mechanical arm applicable for the nuclear magnetism environment.The following step is to conduct model selection and verification of shell material,motor,bearing and reducer.Ultimately,the thesis verifies the validity of processing and allocation through the single joint test on processed mechanical arm entity.Secondly,targeted at existing puncture mechanical arm,the thesis establishes a dynamitic model to plan its movement trail in the space and afterwards testifies the validity of mechanical arm design through measuring the movement parameters and link parameters of each joint in ADAMS.Meanwhile,mechanical design will be further optimized during this stage.Thirdly,the thesis moves to carry out the mechanical arm nuclear magnetism compatibility test which calculates mechanical arm’s work space with Monte Carlo method and verifies mechanical arm’s structure compatibility with puncture demonstration.By constructing high-intensity magnetic field in Maxwell,the thesis observes the stress of mechanical arm in the magnetic field and the influences of mechanical arm on magnetic field intensity,verifies the rationality of mechanical design and optimizes the mechanical design of mechanical arm.Fourthly,positional accuracy experiment of the puncture robotic arm.The thesis designs the control platform of puncture mechanical arm,utilizes laser tracker to measure the positional accuracy of mechanical arm,testifies design validity,and observes error sources to lay the foundation for follow-up studies.