中文摘要：

为了提高三维超声引导下微波消融治疗肝癌穿刺机器人系统的末端精度,本研究用指数积方法建立了穿刺机器人正运动学模型,设计了特殊神经网络标定方法,并对机器人末端位置进行了标定。标定实验结果表明,经过此种方法标定后的穿刺机器人,在手术常用工作空间内的末端位置精度提高100%以上。此系统已在北京301医院获得成功的临床实验应用,手术结果表明该系统可以准确定位病灶区域,精确放置手术器械,摆脱穿刺引导架的角度限制。介入治疗机器人实现了大角度准确穿刺并满足介入手术的需求,有效地提高了囊肿穿刺手术的治疗效果。

英文摘要：

This study is aimed to improve the position accuracy of the three-dimensional uhrasound-guided microwave ablation robotic systems for the treatment of liver cancer. A forward kinematic modal for medical robot was established by using the product of exponential formula. And a special nerve network calibration method was designed for the medical robot calibration. Experiment results showed that the average position accuracy of medical robot increased significantly after calibration. The 3D ultrasound-guided robot has performed clinical operations successfully in Beijing 301 Hospital. The system could help surgeons locate targets accurately and place the surgery devices precisely, improving the treatment effect of cyst-punctured surgery.