Design And Trajectory Planning Of Floor-mounted Imaging-guided Needle Puncture Robot

Aiming at the brachytherapy for thorax and abdomen cancer,a CT-guided puncture robot is developed.According to clinical requirements and surgical standard,research work,including structure design,kinematics analysis,statics analysis,kinetic analysis,trajectory planning and combined simulation,is finished on the robot.The main contents are as follows:First of all,according to clinical requirements,design of floor-mounted thorax-abdomen puncture robot is finished.Configuration is selected,robot use floor-mounted installation.Aiming at robotic puncture,the robot is designed as dual-arm style so that guider positioning module and needle puncture module are divided.The main body of robot arms is chosen as SCARA structure,this structure makes robot more flexible.Secondly,kinematics,statics and kinetics are analyzed on floor-mounted thorax-abdomen puncture robot.Through D-H method,forward kinematics and inverse kinematics are derived.The Jacobian matrix is derived,and the dexterity analysis is finished for length optimization of arms.Based on SolidWorks Simulatio and ADAMS,statics analysis and kinetics analysis of robot are finished to provide the basis of motor selection and robot lightweight.Finally,trajectories of robot are planned.According to CT images of phantom,the trajectory of endpoint in Cartesian space is planned by using artificial potential fields method.For joint space,quintic polynomial and hepta polynomial are used respectively for displacement,velocity and acceleration trajectories planning.On this basis,ADAMS is used for verification.