Traditional hand-held ultrasound probe has some limitations in prostate biopsy. Improving the localization and accuracy of ultrasound probe will increase the detection rate of prostate cancer while biopsy techniques remain unchanged. This paper designs a manipulator for transrectal ultrasound probe, which assists doctors in performing prostate biopsy and improves the efficiency and accuracy of biopsy procedure. The ultrasound probe manipulator includes a position adjustment module that can lock four joints at the same time. It reduces operating time and improves the stability of the mechanism. We use the attitude adjustment module designed by double parallelogram RCM mechanism, the ultrasound probe can realize centering and prevent its radial motion. The self-weight balance design helps doctors operate ultrasound probe without weight. Using MATLAB to analyze the manipulator, the results show that the workspace of the mechanism can meet the biopsy requirements. And simulate the centering effect of the ultrasound probe when the attitude is adjusted at different feeding distances, the results show that the ultrasound probe is centering stability. Finally, the centering and joint interlocking tests of the physical prototype are completed. In this paper, a 7-DOF manipulator for transrectal ultrasound probe is designed. The mechanism is analyzed for kinematics, workspace analysis, simulation of centering effects, development of a physical prototype and related experimental research. The results show that the surgical demand workspace is located inside the reachable workspace of the mechanism and the joint locking of the manipulator is reliable.

传统的手持式超声探头在前列腺活检中存在一定的局限性。在活检技术不变的情况下，提高超声探头的定位和准确性将提高前列腺癌的检出率。本文设计了一种经直肠超声探头机械手，辅助医生进行前列腺活检，提高活检过程的效率和准确性。超声探头机械手包括一个位置调节模块，可以同时锁定四个关节。它减少了操作时间并提高了机构的稳定性。我们采用双平行四边形RCM机构设计的姿态调节模块，超声探头可以实现对中并防止其径向运动。自重平衡设计帮助医生在无重量的情况下操作超声探头。利用MATLAB对机械臂进行分析，结果表明该机构的工作空间满足活检要求。并仿真了不同进给距离下调整姿态时超声探头的定心效果，结果表明超声探头定心稳定。最终完成了物理样机的定心和关节联锁测试。本文设计了一种用于经直肠超声探头的七自由度机械手。该机构进行了运动学分析、工作空间分析、对中效应模拟、物理原型开发和相关实验研究。结果表明，手术需求工作空间位于机构可达工作空间内，机械臂关节锁定可靠。