A Method to Reduce Tension Differences in Pull/Push Manipulation for a Robot in Fluorescence Emission-Guided Surgical Microscopy

IF 1.2 4区 医学 Q3 SURGERY
Sangyun Lee, Kicheol Yoon, Won-Suk Lee, Kwang Gi Kim
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引用次数: 0

Abstract

MotivationA fluorescence emission-guided microscope used to monitor the outcome of cancer removal surgery is highly effective when employing a manipulator to motorize and switch the observation direction. It is necessary to minimize the alignment of looper tension between the stands for pull/push to change the direction of the manipulator and reduce the error rate caused by tension differences. This paper presents a method to minimize the error rate of looper tension between the stands.Methods\The looper is inserted between the stands of the manipulator to minimize the difference in tension and make the stress on the pull and push of the looper constant. The constant stress allows the manipulator to move stably in left/right, up/down, and left/right movements, which will be effective for full-camera observation and close-up shots of the end effector.ResultsReducing the tolerance for differences in the manipulator’s looper tension (angle and tension) is crucial. When the input value of the looper tension angle is 50°, the output should closely match 50°. Consequently, the measured response has a tolerance of ±49.98%, resulting in an error rate of .02% (1/50th level).ConclusionA method is proposed to minimize the error rate of the manipulator’s looper tension in a robot-based fluorescence emission-guided microscope used to observe the status of cancer surgery. As a result, a stable manipulator with a minimal error rate can achieve a 3.986x magnification for close-up observation by switching between high and low orientations.
减少荧光发射引导手术显微镜机器人拉/推操作张力差异的方法
动机 一种用于监测癌症切除手术结果的荧光发射引导显微镜在使用机械手来驱动和切换观察方向时非常有效。为了改变操纵器的方向,有必要最大限度地减少拉/推支架之间环形器张力的对准,并减少因张力差异造成的误差率。本文提出了一种尽量减少支架间环形器张力误差率的方法。方法是将环形器插入机械手的支架之间,以尽量减少张力差异,并使环形器的拉力和推力的应力恒定。恒定的应力可使机械手在左右、上下和左右移动时保持稳定,这对全镜头观察和特写拍摄末端效应器非常有效。当机械手张力角度的输入值为 50°时,输出应与 50°密切匹配。因此,测量响应的容差为±49.98%,误差率为 0.02%(1/50 级)。 结论 本文提出了一种方法,可最大限度地降低用于观察癌症手术状态的机器人荧光发射引导显微镜中机械手环形张力的误差率。因此,误差率最小的稳定机械手可通过在高方位和低方位之间切换实现 3.986 倍放大率的特写观察。
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来源期刊
Surgical Innovation
Surgical Innovation 医学-外科
CiteScore
2.90
自引率
0.00%
发文量
72
审稿时长
6-12 weeks
期刊介绍: Surgical Innovation (SRI) is a peer-reviewed bi-monthly journal focusing on minimally invasive surgical techniques, new instruments such as laparoscopes and endoscopes, and new technologies. SRI prepares surgeons to think and work in "the operating room of the future" through learning new techniques, understanding and adapting to new technologies, maintaining surgical competencies, and applying surgical outcomes data to their practices. This journal is a member of the Committee on Publication Ethics (COPE).
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