相关实验视频
Updated: Jun 29, 2025

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Operation of the Collaborative Composite Manufacturing CCM System
Published on: October 1, 2019
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通过冗余分辨率,超过同心管机器人的传统曲率限制
Patrick L Anderson1, Richard J Hendrick1, Margaret F Rox1
1Vanderbilt University, Department of Mechanical Engineering.
概括
研究人员开发了一种方法来防止使用冗余分辨率在同心管机器人中的弹性不稳定. 这使得更高曲率设计的实际使用成为可能,并增强了手术应用的控制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 医疗器械 医疗器械
背景情况:
- 弹性不稳定性是同心管机器人研究的一个关键挑战.
- 最近的建模进步允许预测和量化机器人的稳定性.
- 目前的方法限制了这些机器人可以实现的实际曲率.
研究的目的:
- 引入冗余解决方法,以避免同心管机器人的弹性不稳定性.
- 为了允许在同心管机器人中使用更高曲率的设计.
- 为了证明框架对其他手术机器人控制目标的适用性.
主要方法:
- 利用现有的稳定性指标,这些指标来自于先进的建模.
- 实施冗余解决策略,积极避免预测的弹性不稳定性.
- 在一个三管同心管机器人上测试了这种方法,遵循预定义的轨迹并在远程操作期间.
主要成果:
- 冗余解决方法成功地防止了在轨迹跟踪过程中的弹性不稳定.
- 在通常会导致不稳定的远程操作条件下,机器人保持稳定.
- 该框架表现出适应其他控制目标的适应性,例如合规操纵.
结论:
- 基于稳定性指标的冗余分辨率有效地防止了同心管机器人的弹性不稳定性.
- 这种方法促进了高曲率设计的实际应用.
- 提出的框架为手术机器人提供了一种多功能控制策略.
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