根据机械原理提高矫形外科连续机器人的精度。

IF 4.3 3区 工程技术 Q1 BIOTECHNOLOGY & APPLIED MICROBIOLOGY
Frontiers in Bioengineering and Biotechnology Pub Date : 2024-10-15 eCollection Date: 2024-01-01 DOI:10.3389/fbioe.2024.1470069
Tongtao Pang, Jinkui Liang, Zechen Lin, Xubin Zhang, Finxin Du
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引用次数: 0

摘要

简介:在骨科手术领域,凹槽连续体机器人因其被动顺应性而备受关注,特别适用于复杂精细的骨关节区域的手术。然而,缺口连续体机器人的精确建模仍是一项重大挑战:本文针对这一问题,提出了凹槽连续机器人的高精度机械建模方法。建立了基于梁约束模型的柔性梁挠度预测模型。建立了考虑内摩擦力的力平衡摩擦模型。获得了精确的静态模型,可以根据输入的驱动力准确估计机器人的变形和挠度行为。建立了基于静态模型的缺口连续机器人运动学模型。结果:实验结果表明,静态模型的误差仅为 0.1629 毫米,相当于连续机器人总长度 66 毫米的 0.25%:这项研究为连续体机器人的建模和控制提供了宝贵的见解,对提高骨科手术的精确度具有重要意义。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Enhancing the precision of continuum robots in orthopedic surgery based on mechanical principles.

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.

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来源期刊
Frontiers in Bioengineering and Biotechnology
Frontiers in Bioengineering and Biotechnology Chemical Engineering-Bioengineering
CiteScore
8.30
自引率
5.30%
发文量
2270
审稿时长
12 weeks
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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