Structure Design and Kinematics Analysis of MRI-Guided Intervention Robot

摘要：

　　MRI-compatible surgical robot technology is one of the most effective ways to improve the real-time image-guided surgical biopsy.In MRI environment,the robot design is facing the problems of high magnetic field and limited workspace.A pneumatic-driven MRI-guided intervention robot was designed for chest and abdomen surgical biopsy.Based on compatibility and workspace analysis,the specific structure design of the robot was carried out.Then robot coordinate system was established using D-H method and the kinematics analysis was conducted.

关键词： MRI intervention robot structure design kinematics analysis

作者: Yong-de Zhang Hai-yan Du Li-wei Geng Yu-qin Li Hong-xia Zhang Yan-hua Zhang

作者单位: Intelligent Machine Institute, Harbin University of Science and Technology, Harbin 150080, China Harbin Medical University Cancer Hospital, Harbin 150081, China

会议类型: 国际会议

会议名称: the Second International Conference on Frontiers of Manufacturing and Design Science(第二届制造与设计科学国际会议(ICFMD 2011))

会议地点: 台湾

会议语种:英文

页码: 2253-2257

在线出版日期: 2011-12-11（万方平台首次上网日期，不代表论文的发表时间）