肿瘤的精准诊疗是医学领域的热点研究内容之一，经过多年发展，超声引导下经皮穿刺消融技术成为肿瘤治疗方法的重要组成部分。然而，由于超声的低分辨率、呼吸运动、软组织形变及过度依赖医生经验等问题导致消融区难以在三维空间上完全覆盖肿瘤。因此，开发用于基础实验的多模态影像引导肿瘤定位穿刺机器人，通过基础实验解决以上临床问题，对肿瘤的精准诊疗具有重大意义。本课题以精准医疗为导向，针对现有设备存在的问题，重点突破以下的科学难题：1）构建多模态影像几何模型、呼吸运动模型，实现精准可视化显示；2）分析呼吸运动引起的器官节律性位移和腹压引起的柔性组织形变，构建穿刺针进针姿态和速度关联性，实现精准、量化的手术操作；3）研究力反馈的精确量化方法，研制基于安全预警策略的手术操作和控制方案。该仪器的研制将为业界研究学者提供一种用于精准穿刺基础实验研究的有力工具，对肿瘤适形精准消融具有重大的医学和实验价值。

Accurate treatment of tumor has been one of the core contents of medical research field, after years of development, ultrasound-guided percutaneous puncture thermotherapy has become an innovative technique for treating malignant tumor. It is difficult to make ablation zones cover the tumor completely in 3D space duo to the low resolution of ultrasonic, respiratory movement and soft tissue deformation. Therefore, it is of great significance in accurate diagnosis and treatment of tumor to develop the multi-modal imaging guided needle-driven robot used for basic experiment research to solve the clinical issues above. This research is precision medical- oriented, aiming at the problems of existing equipment, resolving the following problems: 1) Build multimodal image geometric model, respiratory movement model, realize precise visually display; 2) Analyze organ rhythmic displacement and soft tissue deformation caused by respiratory movement and abdominal pressure, build correlation between the posture and speed of needling, realize the precise and quantitative operation; 3) Study the quantitative method of force feedback, develop operation and control scheme based on safety early warning strategy. The development of the instrument will provide researchers a powerful tool to perform puncture experiments with precise and has a great scientific value and medical value in precise and conformal ablation for tumor.