Design and clinical application of the interventional robot THMR-I

An ultrasound-guided interventional robotic system includes the image navigation system, the interventional robot, and the electro-magnetic tracking unit, among which the interventional robot is a key issue affecting the therapy effect of the interventional therapy. According to the requirements of the clinical interventional therapy, an interventional robot, THMR-I, is designed. The robot combines the SCARA structure and the serial wrist to realize the wide angle active locating and puncture. This paper describes the design aspects of THMR-I concerning the medical functionality, safety and reliability. The accuracy of the robot system is specifically analyzed theoretically and experimentally. THMR-I has been applied in over ten cyst puncture surgeries, including hepatic cysts and renal cysts, and achieved desired therapy effects, which verified the system´s design concepts, reliability, and accuracy.