Research on Needle Aspiration Robot for Diagnosis of Thyroid Nodules

Based on the status of thyroid nodule puncture diagnosis, a 6-DOF puncture surgery robot is studied. The structure of the robot is combined with active and passive to increase the flexibility of the robot. The weight of the arm and the execution end is reduced by remote driving. A new type of fixed-point puncture mechanism was designed, and two driving modes were analyzed. Kinematics models were constructed respectively. A new rope winding method to prevent falling off was proposed. The D-H method is used to analyze the kinematics of the robot and the kinematics model is established. The kinematics model of fixed-point puncture and the workspace of the robot are simulated and analyzed by using MATLAB. The results show that the configuration of the robot and the design of the fixed-point puncture mechanism are reasonable.