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中文摘要：
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。
英文摘要：
C-ann image-guided surgical positioning technology is widely used in domestic renal biopsy surgery. C-arm for the two-dimensional images cannot directly provide a three- dimensional image information, and work long hours will lead to health care workers suffer from high-dose radiation. In order to improve the above limitations, we design new surgical positioning robot to access three-dimensional image by two positioning image. Robot control is used fuzzy controller as compensator, which improve control accuracy effectively. The surgical positioning robot can quickly locate, and greatly improve the surgery a success rate, to protect health care workers from the X-ray radiation.
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