RESEARCH ON MASTER–SLAVE CONTROL METHOD OF PROSTATE SEED IMPLANTATION ROBOT

When a doctor performs a prostate seed implantation operation, if the manual method is used, the doctor’s physical strength and operation accuracy will be seriously affected owing to the uncomfortable operation posture and the long operation time, and if a robot is used for seed implantation, surgery cannot be performed according to the doctor’s operating experience and clinical emergencies. Therefore, in view of this situation, a master–slave control method for a prostate seed implantation robot was proposed in this paper. Firstly, the master–slave control system was designed, and the type of master–slave robot was determined. Secondly, the kinematics analysis of the master–slave robot was carried out, and the master–slave mapping method, master–slave consistency, and proportional mapping were analyzed based on it. An incremental pose separation control method based on linear motion recognition was proposed. The method combines the incremental position and attitude separation master–slave control and linear motion recognition method, which can effectively complete the dual control of position and posture, and it ensures the fluency and accuracy of surgical operation. Finally, the experimental platform of master–slave prostate seed implantation robot system was built, and the master–slave control method studied in this paper was experimentally verified on its basis. They include: master–slave initial pose registration experiment, master–slave path following experiment, and linear path recognition experiment. Results have shown that the master–slave control method of prostate seed implantation robot studied in this paper can ensure its puncture accuracy and good surgical results.