电缆驱动软针穿刺手术机器人的优化设计与实验

IF 0.8 4区医学 Q4 ENGINEERING, BIOMEDICAL

Journal of Medical Devices-Transactions of the Asme Pub Date : 2023-02-08 DOI:10.1115/1.4056865

Jihua Li, Qi Jiang

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引用次数: 0

摘要

本文提出了一种缆索驱动的软针穿刺手术机器人CPSR。该机构具有质量小、尺寸小、传动平稳等优点。驱动旋转关节的电机用缆绳分开，增强了机器人的动态性能。为了减小传动误差，提出了一种基于活动皮带轮的解耦机构。为提高控制精度，分析了缆索驱动机构的传动误差。完成了传动误差仿真，优化了索驱动机构的设计参数。在穿刺实验中，验证了CPSR采用索式机构驱动软针的可行性。插入误差小于0.7 mm，重复性小于2.5 mm。最后讨论了限制精度的原因及解决方法。在未来的研究中，形状传感器将采用光纤制作，并安装在细针上，有助于完成自动化操作。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Optimal Design and Experiment of Cable-Driven Puncturing Surgery Robot for Soft Needle

In this paper, a cable-driven puncturing surgery robot named CPSR is proposed for soft needle. The cable-driven mechanism has lower mass, smaller dimension and smooth transmission. The motor driving the rotational joints is separated using cable which strengthen the dynamic performance of the robot. A decoupling mechanism based on movable pulley is also proposed to reduce the transmission error. Transmission error of cable-driven mechanism are also analysed to improve the control accuracy. The simulation of transmission error is completed to optimize the design parameters of cable-driven mechanism. In puncturing experiments, the feasibility of the CPSR driving the soft needle using cable-based mechanism is validated. Also the insertion error less than 0.7 mm and repeatability less than 2.5 mm are achieved. Finally the reasons limiting the accuracy and corresponding solutions are discussed. In the future research, the shape sensor will be fabricated using optic fiber and mounted on the slim needle which is helpful to complete automated operations.

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来源期刊

Journal of Medical Devices-Transactions of the Asme ENGINEERING, BIOMEDICAL-

CiteScore

1.80

自引率

11.10%

发文量

审稿时长

6-12 weeks

期刊介绍： The Journal of Medical Devices presents papers on medical devices that improve diagnostic, interventional and therapeutic treatments focusing on applied research and the development of new medical devices or instrumentation. It provides special coverage of novel devices that allow new surgical strategies, new methods of drug delivery, or possible reductions in the complexity, cost, or adverse results of health care. The Design Innovation category features papers focusing on novel devices, including papers with limited clinical or engineering results. The Medical Device News section provides coverage of advances, trends, and events.