ABSTRACT
Objective:To establish a motion planning method for avoiding singularities for manipulator-assisted puncture surgery navigation, and design the corresponding computer program.Methods:According to the actual operation and the need of clinicians, the puncture needle sleeve installed at the end of the UR3 robotic arm was designed, and the kinematics analysis and simulation verification of the robotic arm were performed. A calculation program for solving the movement pose when the puncture needle at the end of the robotic arm reaches the target position, and a motion planning program for avoiding singularities through small-angle rotation were programmed.Results:Six groups of joint angles were randomly selected, and the theoretical coordinates calculated by the program were compared with the actual coordinates. The result showed that the error between the theoretical value and the actual value was small, which proved the correctness of the kinematics model. In the verification experiment, 3 sets of initial poses at random were simulated, the best pose was obtained by the program. Then the pose was transmitted into the control system to control the movement of the robotic arm. The verification experiment results showed that the puncture needle can reach the target point, and the singularity can be effectively avoid by the small-angle rotation of the fixed central axis.Conclusions:The singular point avoidance method based on end posture rotation can effectively avoid the failure of initial target posture motion planning, and it has reference value for the application of manipulator in puncture surgery.
ABSTRACT
Traditional moxibustion treatment mainly relies on doctors using specific techniques to stimulate the patient's acupoints with ignited moxa sticks. In view of the poor reproducibility, and different methods of different doctors, difficult to carry out quantitative and qualitative research work in clinical research, a moxibustion mechanical arm was designed. The hardware modules of the mechanical arm are composed of power, micro controller STM32, position servos, moxibustion strip thruster, human-computer interaction panel and sensors; the software parts are composed of main control program and interrupt service program. The use of this moxibustion mechanical arm will enhance the system's multi-task adaptability and could perform a variety of moxibustion methods including circling moxibustion and sparrow-pecking moxibustion. The data collected in real time will be transmitted to PC through bluetooth, displayed on OLED, and the system operation modes could be switched by button. Clinical trials showed that moxibustion mechanical arm had the same treatment effects with traditional moxibustion. Meanwhile, its convenience of ope-ration, repeatability of treatment, doctors and patients's treatment experience are all better than those of traditional moxibustion.
ABSTRACT
Objective To merge the traditional magnetic imaging technology with emerging robotics and to create a new surgical model that replaces human eyes with robotic arms instead of manpower.Methods Structural compatibility analysis was executed with Monte Carlo method. According to the theory of magnetic field compatibility, the mechanical arm components were classified, the magnetic field compatibility of the manipulator was discussed, the key components of the manipulator were selected,and the finite element analysis was performed to verify its reliability.The positive and negative kinematics models of robotic arms were constructed by matrix transformation and robotics toolbox. The polynomial interpolation of five times was used to plan the trajectory of the end of the manipulator.Results The work space of the robot arm solved by Monte Carlo method was found to envelop completely the inner ring aperture of the NMR,and thus the spatial accessibility of the robot arm was verified.Finite element analysis proved that the structural strength of the manipulator was well-designed and the kinematics model of the manipulator was successfully constructed.The trajectory planning found that the joints rotated uniformly and the desired requirements were met.Conclusion The robot arm developed gains advantages in configuration and nuclear magnetic compatibility.
ABSTRACT
Objective To design a mechanical arm assisted lumbar puncture ultrasound scanning system to realize automatic scanning imaging of the lumbar vertebrae and visualize the three-dimensional reconstruction of the acquired two-dimensional ultrasound image,so as to obtain the three-dimensional image of the scanning lumbar and provide a basis for path planning and assisted puncture.Methods The main control program of the robotic arm was programmed by C language which can control the robotic arm to scan the lumbar vertebrae of the patient by a clamped ultrasound.The acquired 2D ultrasound image was reconstructed and visualized using a VTK-based 3D reconstruction visualization program.The lumbar vertebrae model reconstruction was conducted by Enovo Medical Model in water and CIRS 034 lumbar vertebral phantom,respectively,and the experimental results were compared and analyzed.Results By using the lumbar puncture ultrasound scanning system,the obtained two-dimensional ultrasound image of the lumbar spine model was clear and the anatomy was basically complete.The results of three-dimensional reconstruction showed that the spinous processes and their gaps of the scanned lumbar model were clearly visible,and the structure was intact,indicating that the system was operating normally and could achieve the expected function.By comparing the reconstruction results of the bent-knee lateral position and prone position,it can be concluded that the body position has an important influence on the reconstruction results of the lumbar spine ultrasound image.The bent-knee lateral position should be used in the follow-up study of lumbar puncture.Conclusions A lumbar puncture ultrasound scanning system assisted by a mechanical arm was proposed.The system can effectively capture the clear ultrasound image of the model and realize the visualization of 3D reconstruction,which can provide a basis for puncture path planning and assisted puncture.