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相关概念视频

Tension01:10

Tension

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Tension is a force along the length of a medium, in particular, a force carried by a flexible medium, such as a rope or cable. The word "tension" comes from Latin, meaning "to stretch". Not coincidentally, the flexible cords that carry muscle forces to other parts of the body are called tendons. Any flexible connector, such as a string, rope, chain, wire, or cable, can exert pull only parallel to its length; so, a force carried by a flexible connector is a tension with a...
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A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
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一个用于有线手术机器人的压力传感器阵列.

Zhangxi Zhou1, Jianlin Yang1,2, Mark Runciman1

  • 1The Hamlyn Centre, Institute of Global Health Innovation, Imperial College London, London W2 1PF, UK.

Sensors (Basel, Switzerland)
|May 25, 2024
PubMed
概括
此摘要是机器生成的。

这项研究引入了用于内镜机器人的微型张力传感器阵列,以准确测量电缆张力并减少摩擦. 这项创新增强了手术机器人控制,并使触觉手术过程中精确的力反成为可能.

关键词:
电缆张力传感器 电缆张力传感器带有线缆驱动的并行机器人 (CDPR)估计力量的估计力.触摸是一种触摸.传感器设计 传感器设计

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 手术技术 手术技术
  • 传感器技术 传感器技术

背景情况:

  • 肌膜结构对于手术机器人至关重要,因为它们的紧设计和可控性.
  • 由于复杂的摩擦效应,在长,灵活的仪器中精确估计电缆张力是具有挑战性的.

研究的目的:

  • 开发和整合一个微型的张力传感器阵列到内镜电缆驱动的平行机器人的远端.
  • 为了减轻肌和之间的摩擦,并改善电缆张力传感.

主要方法:

  • 一个新的微型张力传感器阵列 (16毫米外径) 被设计并安装在机器人的远端.
  • 在机器人上实施之前,在单缆平台上开发并验证了一种力补偿策略.
  • 通过触摸测试和对人类参与者的盲人试验来评估性能.

主要成果:

  • 开发的传感器阵列证明了减少摩擦影响,并使精确的张力估计成为可能.
  • 机器人实现了0.173N的平均力估计误差和0.213N的平方根平均误差.
  • 参与者使用机器人的触觉力反成功分化了不同硬度的片.

结论:

  • 微型张力传感器阵列有效地解决了内镜机器人长距离电缆张力估计方面的挑战.
  • 集成系统增强了手术仪器的控制,并为手术过程中的触觉感应提供了宝贵的力反.
  • 这项技术有可能提高微创手术机器人手术的灵巧性和安全性.