神经外科五自由度混合机器人辅助系统的全面研究、模型验证和控制

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-04 DOI:10.1002/rcs.70047

Ahmed Sedky, Nader A. Mansour, Ahmed El-Assal, Mahmoud Magdy

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引用次数: 0

摘要

神经外科手术要求高精度，机器人辅助系统越来越多地用于提高手术效果。本研究的重点是神经外科的混合机器人辅助系统，解决正运动学和逆运动学，雅可比矩阵和系统奇点。方法利用MATLAB/Simscape Multibody软件对系统进行仿真，实现精确的运动学和动力学表征。为生成和验证末端执行器尖端的圆形轨迹，建立了一个逆运动学框架。比较了两种控制策略：传统的主动联合PID控制和轨迹反馈加前馈组合控制。结果在最优条件下，各输出的最大绝对误差平均降低46.5%，均方误差平均降低50.31%。结论该研究结果强调了轨迹反馈和前馈控制在提高机器人辅助神经外科手术精度和可靠性方面的潜力。

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Full Study, Model Verification, and Control of a Five Degrees of Freedom Hybrid Robotic-Assisted System for Neurosurgery

Background

Neurosurgery demands high precision, and robotic-assisted systems are increasingly employed to enhance surgical outcomes. This study focuses on a hybrid robotic-assisted system for neurosurgery, addressing forward and inverse kinematics, Jacobian matrices, and system singularities.

Methods

The system is simulated using MATLAB/Simscape Multibody to achieve accurate kinematic and dynamic representations. An inverse kinematics framework was developed for generating and validating a circular trajectory at the end-effector tip. Two control strategies are compared: traditional active joint PID control and combined trajectory feedback plus feedforward control.

Results

The combined control strategy significantly improves performance, reducing the maximum absolute error of each output by an average of 46.5% and the mean square error by 50.31% under optimal conditions.

Conclusion

The findings highlight the potential of trajectory feedback and feedforward control to enhance the precision and reliability of robotic-assisted neurosurgical procedures.

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.