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《Journal of Beijing Institute of Petro-Chemical Technology》 2008-04
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The Design of The Mechanical System of The Needle-Holding Robot for Ultrasound-guided Percutaneous Microwave Ablation of Liver Tumor

Cao Junfang1 Jiang Lipei1 Deng Shuangcheng1 Cao Yingyu1 Wang Baoshan2(1 Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory,Beijing Institute of Petrol-chemical Technology,Beijing 102617;2 Engineering Education Center,Beijing Institute of Petrol-chemical Technology,Beijing 102617)  
In order to decrease influence of human factor during holding of microwave needle and free the two hands of needle-holding assistant,a needle-holding robot was developed and studied to take the place of assistant to fulfill stable holding of microwave needle during the procedure of liver tumor ablating.The key technology includes the needle-holding robot,mechanical arm,mechanical hand and the technology of sense tracing control.This paper especially analyzes and explains the character of the mechanical system,the dynamic principle and the key point of design.The experiment demonstrates that needleholding robot is feasible,safe and effective when used to hold microwave needle in ultrasound-guided percutaneous microwave ablation of liver tumor.The labour intensity and the medical resource can be reduced by using needle-holding robot,and at the same time the effect of tumor ablating can be increased.
【CateGory Index】: TP242.3
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