Research On Image Registration And Safety Control Strategy Of Tumor Radiotherapy Assistant Robot

Tumor disease is a difficult problem in the medical community,which seriously affects the quality of life and family happiness of patients.Currently,no new method has been explored for the treatment of tumor in the medical field,and it is still the traditional resection of tumor tissue or radiation therapy.The traditional manual manual radiotherapy surgery has a low precision and the risk of doctors being exposed to radiation.Therefore,it is an urgent problem to study an efficient and safe radiotherapy method.The robot is introduced into tumor radiotherapy surgery,and the whole process safety control mechanism is established through optical navigation and positioning system,robot path planning,so that the operation can be replaced by the robot to achieve the goal of precision,safety and efficiency.Based on the experience of clinicians in surgery,the paper comprehensively analyzed the surgical process,established the tumor radiotherapy assistant robot system according to the surgical needs,and proposed the robot to implement the surgical process.The kinematic characteristics of the robot were analyzed,and the d-h method was used to establish the kinematic model,solve the forward and inverse kinematic equations of the robot,and use the Matlab Robotics Toolbox function to verify its correctness.Combined with the optical navigation and positioning system,three kinds of robot surgery space registration methods,plane measurement method,rotation method and improved plane rotation method,were proposed.Then the robot safety control strategy was studied and analyzed,and the surgical space was divided into three parts according to different stages,and different control strategies were developed according to the characteristics of each part.The system was modeled and simulated by Simulink,and the secondorder fuzzy slave control strategy was introduced on the basis of the classical impedance control strategy.The stability and safety of the tumor radiotherapy assistant robot system constructed in this paper were verified through the experimental exploration of the simulation experiment.Experimental data show that the system into the biggest needle position deviation is 0.93 mm,maximum offset Angle is 0.93 °,reached the medical acceptable range,that the system can meet the needs of the radiotherapy surgery.