Puncture surgery is a medical diagnosis and treatment technique that inserts a puncture needle into human tissue to extract lesion samples,inject drugs and ablate lesions.There is a wide range of clinical needs for puncture surgery.The puncture biopsy of various parts of the human body requires the puncture needle to accurately reach the target position to extract the biopsy tissue.
From the technical process,the control of the surgical robot needs to determine the relative positional relationship between the position and posture of the puncture needle held by the robotic arm and the CT scan image through the surgical navigation system,an optical locator and an optical identification tool with marked points,and then control the robotic arm to make The puncture needle reaches the target.
Therefore,from the current application in the medical field,lightweight and safe collaborative robots have great advantages in practical applications.
穿刺手术是将穿刺针插入人体组织内提取病灶样本、注入药物及消融病灶的医学诊疗技术。穿刺手术在临床上有广泛需求,对人体各个部位的穿刺活检需要穿刺针精准到达靶点位置提取活检组织。
从技术流程上,手术机器人的控制需要通过手术导航系统、光学定位仪与安装有标记点的光学识别工具来确定机械臂所持穿刺针位姿与CT扫描图像的相对位置关系,进而控制机械臂使穿刺针抵达靶点。
因此,从目前医疗领域应用来看,轻量安全型的协作机器人在实际应用中存在着较大优势。
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