Design, Modeling and Optimization of a Magnetic Resonance Conditional 3-RRR Spherical Parallel Robot for Neurosurgery

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Yanding Qin;Yueyang Shi;Longxin Wang;Hongpeng Wang;Jianda Han
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Abstract

In neurosurgery, magnetic resonance (MR) imaging is extensively utilized for preoperative diagnosis and postoperative evaluation due to its superior soft tissue contrast. However, the strong magnetic field poses a challenge to the real-time utilization of MR for intraoperative navigation. To facilitate neurosurgery in the MR environment, this paper develops a MR conditional robot featuring nonferrous materials and ultrasonic motor actuation. The robot consists of a 3-degree-of-freedom (3-DOF) translational module and a 3-DOF remote center of motion (RCM) module. The RCM module incorporates a 3-RRR spherical parallel mechanism. The mechanical design and kinematic modeling of the RCM module is completed. This paper further conducts the optimization for the RCM module. Additionally, a path-planning algorithm, focusing on the maximization of dexterity, is introduced, and the feasible workspace of the optimized RCM module is evaluated. A prototype is fabricated, and the orientation repeatability of the RCM module is measured to be 0.055±0.0016°, and the absolute orientation error is 2.05±0.019°. Needle insertion experiments are performed on an agarose phantom to evaluate the feasibility of the robot. The impact on signal-to-noise ratio in MRI images caused by the robot is less than 4%, indicating a highly promising applicability in MR conditional neurosurgery.
用于神经外科手术的磁共振条件 3-RRR 球形并行机器人的设计、建模和优化
在神经外科中,磁共振成像(MR)因其卓越的软组织对比度而被广泛用于术前诊断和术后评估。然而,强磁场给实时利用磁共振进行术中导航带来了挑战。为了促进磁共振环境下的神经外科手术,本文开发了一种具有磁共振条件的机器人,其特点是采用有色金属材料和超声波电机驱动。该机器人由一个 3 自由度 (3-DOF) 平移模块和一个 3-DOF 远程运动中心 (RCM) 模块组成。RCM 模块包含一个 3-RRR 球形并联机构。RCM 模块的机械设计和运动学建模已经完成。本文进一步对 RCM 模块进行了优化。此外,本文还引入了一种路径规划算法,重点关注灵巧性的最大化,并对优化后的 RCM 模块的可行工作空间进行了评估。制作了一个原型,测得 RCM 模块的方向重复性为 0.055±0.0016°,绝对方向误差为 2.05±0.019°。在琼脂糖模型上进行了针插入实验,以评估机器人的可行性。机器人对核磁共振图像信噪比的影响小于 4%,这表明它在核磁共振条件神经外科中的应用前景非常广阔。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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CiteScore
6.80
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