上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (09): 1436-1439.

• 自动化技术、计算机技术 • 上一篇    下一篇

核磁共振环境下六自由度穿刺定位机器人的研制  

孟纪超a，谢叻a,b，神祥龙a   

  1. (上海交通大学a. 国家数字化制造技术中心; b. MedX研究院， 上海 200030)  
  • 收稿日期:2011-07-14 出版日期:2012-09-28 发布日期:2012-09-28
  • 基金资助:

    国家自然科学基金重大项目（61190124，61190120），国家科技支撑计划重点项目(2009BAI71B06)，国家自然科学基金项目(60873131)，国家高技术研究发展计划（863）项目(2006AA01Z310，2009AA01Z313)，国家科技型中小企业技术创新基金(11C26213100942)，上海市经委科研项目（07XI237）

Development of an MRI-Guided Puncture Location Robot with 6 Degree of Freedom

 MENG  Ji-Chao-a, XIE  Le-a, b , SHEN  Xiang-Long-a   

  1. (a. National Digital Manufacturing Technology Center; b. Med-X Research Institute, Shanghai Jiaotong University, Shanghai 200030, China)
  • Received:2011-07-14 Online:2012-09-28 Published:2012-09-28

摘要： 针对核磁共振环境下穿刺手术的定位难题，采用机器人串并联机构设计并运用气动驱动方式，研制出6自由度的穿刺定位机器人.结果表明，所研制的穿刺定位机器人能够满足穿刺机器人与核磁共振环境中结构和材料的兼容性，实现了核磁共振环境下穿刺手术的机器人定位.    

关键词: 磁共振图像, 穿刺手术, 定位, 机器人, 兼容性

Abstract: The puncture surgery under MRI is always operated by the doctors’ hand, in which the patients are scanned multiple times, and the process is of low efficiency, high cost, which is difficult for doctors to finish the surgery. A novel puncture location robot under MRI with 6 degree of freedom was provided, which uses series and parallel mechanism design and driven by pneumatic. The magnetic resonance compatibility of the surgery robot was studied, including structure compatibility and material compatibility, and the location problem in puncture surgery was solved.  

Key words: nuclear magnetic resonance imaging(MRI), puncture surgery, location, robot, compatibility

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