| With the rapid development of the image-guided percutaneous ablation for tumors,it has become an effective minimally invasive method for treating liver tumor.At present,the percutaneous ablation of tumor is commonly guided by a signal medical imaging equipment,and CT and B-ultrasound are widely used in clinic.Although CT image has a high resolution,but it can't accomplish real-time imaging.On the other hand,both the doctors and the patients are exposed to the radioactive environment during treatment.As the most widely applied image-guided method in clinic,the two-dimensional ultrasound is convenient and flexible,and it can also accomplish real-time image-guided puncture.But it is difficult to display lesions because of its low imaging resolution and limited vision.And it can be easily affected by the respiratory movement,gas and bone in the body.No matter which imaging equipment is used for guidance,preoperative planning and intraoperative operation are dependent on the clinical experience of the surgeon to determine the location and morphology of the tumor together with the puncture path.It exits subjectivity about the method.The critical puncture process in the ablation procedure is the decisive factor of the quality of the operation,and if it is done by the robot,the operation accuracy can be effectively improved.At the same time,it can reduce the tremor of the holder's hand and eliminate the risk of radiation both for the doctors and the patients.The purpose of this study is to design a robotic system which integrates the robot puncture technology and the optical navigation to solve the problems in the present clinical surgery.The main contents are as follows:(1)Through analysis of the current status of image-guided puncture surgery,advantages and disadvantages of different imaging equipment are revealed.According to the clinical problems,the robot-assisted puncture system based on the optical surgical navigation was built.(2)The optical surgical navigation system is built based on the near infrared binocular camera.Then analyze the principle of the optical surgical navigation and verify the positioning accuracy.(3)Construct the puncture robot according to the requirements of clinical puncture.Through the kinematics analysis of the puncture robot,the foundation of robot control is constructed.(4)Put forward the calibration method for our system based on singular value decomposition method on the basis of machine vision hand-eye calibration.The simulation results were tested using some verification experiments.In this paper,the design and calibration of the system based on the navigation technology show the feasibility and practicability of the application of navigation technology and robot technology in guiding the liver cancer puncture.In this way,a more scientific and normative basis for ablation treatment technology can be laid. |
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