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以C型臂图像为引导的定位手术目前在国内肾穿刺手术中广泛应用,但C型臂为二维图像,无法直接提供三维图像信息,且长时间工作会导致医护人员遭受大剂量辐射。为改进上述局限性,设计了新型手术定位机器人通过两次定位来完成对三维图像的获取。在机器人控制中,利用模糊控制器作为补偿器,有效地提高控制精度。这套手术定位机器人可以快速定位,并大大提高了手术的一次成功率,保护医护工作者免受X射线辐射。
Currently, C-arm imaging is widely used in kidney nephrolithotomy. However, C-arm is a two-dimensional image, which can not directly provide three-dimensional image information, and prolonged work will lead to medical personnel suffering from high dose radiation. In order to improve the above limitations, a new surgical positioning robot is designed to obtain the three-dimensional image by positioning twice. In the robot control, the fuzzy controller is used as a compensator to effectively improve the control accuracy. The surgical positioning robot can quickly locate and greatly improve the success rate of a surgery to protect health care workers from X-ray radiation.