Tongtao Pang, Jinkui Liang, Zechen Lin, Xubin Zhang, Finxin Du
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引用次数: 0
Abstract
Introduction: In the field of orthopedic surgery, the notched continuum robot has garnered significant attention due to its passive compliance, making it particularly suitable for procedures in complex and delicate bone and joint regions. However, accurately modeling the notched continuum robot remains a significant challenge.
Methods: This paper proposes a high-precision mechanical modeling method for the notched continuum robot to address this issue. The flexible beam deflection prediction model based on the beam constraint model is established. The force balance friction model considering internal friction is established. An accurate static model is obtained, which can accurately estimate the deformation and deflection behavior of the robot according to the input driving force. The kinematic model of the notched continuum robot based on the static model is established. This method achieves high accuracywhile ensuring computational efficiency.
Results: Experimental results demonstrate that the static model's error is only 0.1629 mm, which corresponds to 0.25% of the total length of the continuum robot, which is 66 mm.
Discussion: This research provides valuable insights into the modeling and control of continuum robots and holds significant implications for advancing precision in orthopedic surgery.
期刊介绍：
The translation of new discoveries in medicine to clinical routine has never been easy. During the second half of the last century, thanks to the progress in chemistry, biochemistry and pharmacology, we have seen the development and the application of a large number of drugs and devices aimed at the treatment of symptoms, blocking unwanted pathways and, in the case of infectious diseases, fighting the micro-organisms responsible. However, we are facing, today, a dramatic change in the therapeutic approach to pathologies and diseases. Indeed, the challenge of the present and the next decade is to fully restore the physiological status of the diseased organism and to completely regenerate tissue and organs when they are so seriously affected that treatments cannot be limited to the repression of symptoms or to the repair of damage. This is being made possible thanks to the major developments made in basic cell and molecular biology, including stem cell science, growth factor delivery, gene isolation and transfection, the advances in bioengineering and nanotechnology, including development of new biomaterials, biofabrication technologies and use of bioreactors, and the big improvements in diagnostic tools and imaging of cells, tissues and organs.
In today`s world, an enhancement of communication between multidisciplinary experts, together with the promotion of joint projects and close collaborations among scientists, engineers, industry people, regulatory agencies and physicians are absolute requirements for the success of any attempt to develop and clinically apply a new biological therapy or an innovative device involving the collective use of biomaterials, cells and/or bioactive molecules. “Frontiers in Bioengineering and Biotechnology” aspires to be a forum for all people involved in the process by bridging the gap too often existing between a discovery in the basic sciences and its clinical application.
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