Design and Clinical Application of the Interventional Robot THMR-I

被引：1
|
作者：
Xiong, Jing [1 ,2 ]
Chen, Ken [1 ,2 ]
Xia, Zeyang [1 ]
Yang, Xiangdong [1 ,2 ]
Liang, Ping [3 ]
机构：
[1] Tsinghua Univ, Dept Precis Instruments & Mechanol, Beijing 100084, Peoples R China
[2] Tsinghua Univ, State Key Lab Tribol, Beijing, Peoples R China
[3] Chinese Peoples Liberat Army Gen Hosp, Dept Ultrasound, Beijing, Peoples R China
来源：
2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2009年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/AIM.2009.5229925
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An ultrasound-guided interventional robotic system includes the image navigation system, the interventional robot, and the electro-magnetic tracking unit, among which the interventional robot is a key issue affecting the therapy effect of the interventional therapy. According to the requirements of the clinical interventional therapy, an interventional robot, THMR-I, is designed. The robot combines the SCARA structure and the serial wrist to realize the wide angle active locating and puncture. This paper describes the design aspects of THMR-I concerning the medical functionality, Safety and reliability. The accuracy of the robot system is specifically analyzed theoretically and experimentally. THMR-I has been applied in over ten cyst puncture surgeries, including hepatic cysts and renal cysts, and achieved desired therapy effects, which verified the system's design concepts, reliability, and accuracy.
引用
收藏
页码：723 / +
页数：2
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