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SAPM:具有姿势和力量调节的自适应并行操纵器,用于机器人超声波

Xianqiang Bao¹, Shuangyi Wang², Lingling Zheng³

¹School of Biomedical Engineering & Imaging Sciences, King's College London, SE1 7EH, United Kingdom.

IEEE transactions on industrial electronics (1982)

|June 16, 2023

概括

一个新的自适应并行操纵器 (SAPM) 机器人通过自动调整超声波探针来增强机器人超声波. 这提高了医疗应用中的诊断成像质量和操作安全.

科学领域:

机器人技术机器人技术机器人技术
医疗成像医学成像
机械工程机械工程

背景情况:

机器人超声波在适应解剖学变异方面面临限制.
目前的系统难以保持一致的探头定位和力控制.

研究的目的:

介绍一种用于机器人超声波的新型自适应并行操纵器 (SAPM).
为了使超声波探针能够自动对各种身体轮进行姿势调整.
为了确保恒定的操作力/扭矩,并提高扫描期间的安全性.

主要方法:

开发3度自由度 (DOFs) 的平行调节机制,用于自动探头姿势控制.
集成机械测量和安全保护系统来监测力和扭矩.
对SAPM系统进行实验性校准和性能评估.

主要成果:

该SAPM证明了有效的3-DOF运动和精确的力/扭矩测量.
自动探针姿势调整导致美国的图像质量与手动扫描相提并论.
该系统表现出类似软机器人的特性,增强了操作安全.

结论:

拟议的SAPM通过实现自适应扫描和精确的力控制来显著改进机器人超声波.
集成的安全功能提高了患者和操作员的安全.
在工程和医学领域,SAPM技术具有更广泛应用的潜力.

关键词:

机器人超声波扫描仪机器人超声波自动定位调节自动定位调节不变的力/扭矩是恒定的.机械测量机械测量机械测量操作安全运行安全.

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