基于二元电磁作动器的空间超冗余系统的运动学综合

S. Tappe, J. Kotlarski, T. Ortmaier, Michael Dorbaum, A. Mertens, B. Ponick
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引用次数: 12

摘要

柔性内窥镜是微创手术中不同手术任务的常用工具。普通内窥镜的灵活性限制了其运动和抗操纵力的能力。它们倾向于形成循环,并对周围环境施加压力。基于新的作动概念,提出了主动轴的概念:轴是一个具有二元电磁作动器的超冗余蛇形机器人。该系统通过电磁主动控制整个内窥镜体,结合了良好的路径跟踪能力和良好的操纵力阻力。提出了功能概念,并评估了设计参数对工作空间和曲率半径等运动特性的影响。此外,通过最小化轮廓误差,合成了一组运动设计参数。为此,提出了一种路径拟合算法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
The kinematic synthesis of a spatial, hyper-redundant system based on binary electromagnetic actuators
Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.
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