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Volume 42 Issue 4
Apr.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(4): 662-668.
ZHANG Yongde, LIANG Yi, BI Jintao, et al. Kinematics modeling and simulation of seed implantation robot for prostate tumors[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 662-668. doi: 10.13700/j.bh.1001-5965.2015.0288(in Chinese)
Citation: ZHANG Yongde, LIANG Yi, BI Jintao, et al. Kinematics modeling and simulation of seed implantation robot for prostate tumors[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 662-668. doi: 10.13700/j.bh.1001-5965.2015.0288(in Chinese)
shu

Kinematics modeling and simulation of seed implantation robot for prostate tumors

doi: 10.13700/j.bh.1001-5965.2015.0288
  • 1.

    Intelligent Machine Institute, Harbin University of Science and Technology, Harbin 150080, China

  • 2. Department of Urology, The General Hospital of Chinese People's Liberation Army, Beijing 100039, China

Funds:  National Natural Science Foundation of China (51205093);Specialized Research Fund for the Doctoral Program of Higher Education of China (20122303110006)
  • Received Date: 07 May 2015
  • Rev Recd Date: 31 Jul 2015
  • Publish Date: 20 Apr 2016
    Abstract
  • We developed a 3-PCR parallel-chain type of seed implantation robot for prostate tumors, based on measurement workspace in the perineum of prostate and quantitative analysis of the surgery procedure. For this kind of symmetry less degrees of freedom of parallel-chain mechanisms as position adjustment device, the kinematics characteristics need further research. The forward and reverse kinematics equations of 3-PCR parallel-chain mechanisms were established by the closed vector method and Bezout elimination, and forward and reverse model was verified by numerical calculation to be correct. The kinematics simulation was performed under the helical cure in space with point p by MATLAB software, and simulation results provide evidence that this parallel-chain mechanism has better movement stability and is convenient for real-time control. The limit boundary searching method was used to solve the workspace of this mechanism under the posture with α=β=γ=0°, and workspace with YOZ section was 15 674 mm2 under x =0, which also meets the requirements of clinical surgery.

     

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