Introduction. Magnetic Resonance Imaging has better resolution for soft tissue; at the same time, the robot can work in a stable manner for a long time. MRI image-guided breast interventional robots have attracted much attention due to their minimally invasive nature and accuracy. In this paper, a hydraulic-driven MRI-compatible breast interventional robot is proposed to perform breast interventional procedure. Methods. First is the analysis of the design requirements of the hydraulic-driven MRI-compatible breast interventional robot, and then the design scheme is determined. Second, the three-dimensional model and the link frames are established. The workspace of the robot end point is solved by MATLAB/Simulink software. Then, the 3D printing technology is used to make a physical model of the MRI-compatible breast interventional robot. After assembly and debugging, the physical model is used for workspace verification, and the simulation result of the workspace shows that it is correct. Finally, the experimental research on the positioning error of the hydraulic drive is carried out, which established the theoretical foundation for the follow-up control research of the robot. Results. The positioning error has nothing to do with the motion distance, speed, and length of the selected tubing. The errors are 0.564 mm, 0.534 mm, and 0.533 mm at different distances of 40 mm, 80 mm, and 120 mm, respectively. The errors are 0.552 mm, 0.564 mm, and 0.559 mm at different speeds of 3 mm/s, 5 mm/s, and 8 mm/s, respectively. The errors are 0.564 mm, 0.568 mm, and 0.548 mm for different lengths of 0.5 m, 1 m, and 1.6 m, respectively. Then, the robot’s working space on the X O Z plane and the X O Y plane meets the conditions. Conclusion. The structure of a differential rotary breast interventional robot is determined, with the link frames assigned to the mechanism and the Denavit-Hartenberg parameters given. Workspace simulation of MRI-compatible breast interventional robot is done in MATLAB. The 3D printed MRI-compatible breast interventional robot is assembled and debugged to verify that its working space and positioning error meet the requirements.

Background: Portable life support system is used in the battlefield, disaster and in other special circumstances such as in space exploration, and underground survey to give the wounded a life support. The most dangerous period for the injured is the first hour after an injury, which is a crucial time for treatment. If the patient's vital signs were stabilized, more than 40% of the injured could be saved. The staff can efficiently complete the task if they get effective and stable vital signs during the operation. Therefore, in order to reduce the risk of disaster and battlefield mortality to improve operational safety and efficiency, it is necessary to study the portable life support system. Objective: The study aimed to provide an overview of recent portable life support system and its characteristics and design. Methods: This paper introduces the patents and products related to a portable life support system, and its characteristics and application. Results: This paper summarizes five kinds of portable life support systems which are box type, stretcher type, bed type, backpack type and mobile type. Moreover, the characteristics of different portable life support systems are analyzed. The paper expounds the problems of different types of portable life support systems and puts forward improvement methods to solve the problems. Finally, the paper points out the future development of the system. Conclusion: Portable life support system plays an increasingly important role in health care. In terms of the structure, function and control, further development and improvements are needed, along with the research on portable life support system.

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.