[一种使用八自由度机器人手术平台的高强度聚焦超声手术]

[A HIFU surgery using 8-DOF robotic surgery platform].

作者信息

Xu Jianbo, Xiang Linqing, Cao Zhikui, Ma Peisun, Wang Wenchao

机构信息

Research Institute of Robot, Shanghai Jiaotong University, Shanghai, China.

出版信息

Sheng Wu Yi Xue Gong Cheng Xue Za Zhi. 2005 Aug;22(4):824-8.

PMID:16156282

Abstract

Robots are being more and more used in surgery. High Intensity Focused Ultrasound is newly used in tumor treatment and it is non invasive. In this paper, we introduced a Robot integrated HIFU surgery system and its general flow. Also introduced is an 8 DOF surgical platform, its design, its mechanism and its kinematic analysis. In the end, we give out two spatial working areas individually. Each is the combination of 5 dimensional motions. Compared with other platforms available, this surgery platform is more flexible and accurate and its treatment area is larger. All these advantages make the treatment design easier.

摘要

机器人在手术中的应用越来越广泛。高强度聚焦超声最近被用于肿瘤治疗，且具有非侵入性。在本文中，我们介绍了一种集成了高强度聚焦超声的机器人手术系统及其总体流程。还介绍了一个八自由度手术平台、其设计、机械结构及其运动学分析。最后，我们分别给出了两个空间工作区域。每个区域都是五维运动的组合。与现有的其他平台相比，该手术平台更加灵活、精确，其治疗区域更大。所有这些优点使得治疗设计更加容易。