Design And Control Of Pneumatic Prostate Particle Implantation Robot In MRI Environment

Nuclear magnetic resonance imaging（MRI）can provide accurate image navigation information for prostate particle implantation robot.However,due to the influence of magnetic field,the driving mode and manufacturing materials of the robot are restricted,which limits the development of prostate particle implantation robot in MRI environment.In addition,during the operation of prostate particle implantation robot,Puncture error will affect the accuracy of particle implantation.In view of the use requirements in MRI environment and the problem of improving the accuracy of particle implantation,the pneumatic driving mode which is compatible with MRI environment,can realize rapid needle entry and has little pollution to the surgical environment is selected.At the same time,the structure of pneumatic prostate particle implantation robot is designed to complete the control of the machine.Firstly,the problem of improving the accuracy of robot particle implantation is discussed,and the force model of prostate puncture is established.Through the quantitative treatment of the puncture process,the prostate puncture force model is deduced,and the relationship between the needle force and the speed is analyzed.It is considered that the rapid needle feeding method can effectively reduce the puncture error.The rationality of the rapid needle feeding method is verified by many puncture error experiments.Secondly,according to the requirements of MRI environment,the structure of pneumatic prostate particle implantation robot in MRI environment is designed by combining the puncture mode of fast needle entry with the characteristics of pneumatic fast movement;The key load-bearing parts of the robot are statically simulated,and the simulation results verify the reliability of the robot.Then,the performance of pneumatic prostate particle implantation robot in MRI environment is analyzed.The kinematics of the robot is solved,and the Monte Carlo sampling point method is used to simulate the robot operation space.The simulation results meet the space requirements of clinical prostate surgery;The speed solution and driving force performance of the pneumatic prostate particle implantation robot are analyzed.The simulation results show that the motion process of the robot is stable,and the selected cylinder meets the driving force requirements of the pneumatic prostate particle implantation robot.Finally,the control system is built to complete the relevant experiments.The hierarchical control system of the robot is built;Considering the safety of patients during operation,the pneumatic control circuit of the machine is designed to realize the complete electrical control system of pneumatic particle implantation robot in MRI environment;The prototype experimental platform is built to improve the accuracy of particle implantation.The results show that the robot can effectively improve the accuracy of particle implantation compared with traditional surgery;The results show that the operation space of the robot can meet the clinical requirements of prostate particle implantation...