A Robot System for Puncture Diagnosis and Treatment of Skull Base and Lateral Facial Deep Region and Its Experimental Study

In view of the diverse needs in the interventional process of biopsy, radioactive seed implantation and radiofrequency thermocoagulation for puncture diagnosis and treatment of skull base and lateral facial deep region, a multifunctional surgical robot system is developed. The system can assist surgeons to complete the operations of needle-placing, particle implantation and so on. Three end-effectors are designed for different surgical requirements. The rapid installation and disassembly between end-effectors and robot is realized by using a universal interface. The hybrid motion control method based on optical navigation was proposed to ensure the positioning accuracy of robot system. The positioning accuracy of robot was verified by experiments. The performance of robot system in three surgeries was verified by cadaver experiments. The results show that the robot system has high positioning accuracy and can be applied flexibly to many kinds of operations, which has certain feasibility.