为了扩展同心管机器人动力学,用于大空隙和脉冲曲率
Zhouyu Zhang1, Jia Shen1, Junhyoung Ha2
1Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta 30332 USA.
IEEE robotics and automation letters
|June 24, 2024
概括
本研究介绍了一种先进的运动模型,用于集中管机器人 (CTRs),以改善复杂解剖结构中的外科导航. 改进后的模型显著减少了尖端位置错误,使微创手术更加精确.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 医疗器械 医疗器械
- 手术技术 手术技术
背景情况:
- 集中管机器人 (CTR) 在微创手术中被使用.
- 现有的CTR动态模型在具有大管到管间距或高中心线曲率的环境中面临挑战,例如大动脉.
- 在这些非结构化的场景中,准确的建模对于运动规划和控制至关重要.
研究的目的:
- 扩展传统的CTR动力学模型,以适应大管到管间的空隙和中心线曲率.
- 为了提高在具有挑战性的解剖路径中运行的CTR的精度和可靠性.
- 为CTRs提供一个更可概括的动力学模型.
主要方法:
- 开发一个扩展的CTR动力学模型.
- 进行数值模拟来评估模型的性能.
- 对传统模型进行物理实验以进行验证.
- 在2D平面和3D情况下比较拟议的模型的准确性.
主要成果:
- 与传统的CTR动力模型相比,拟议的模型显示出更高的准确性.
- 在物理实验中,该模型在2D中达到1.53mm的尖端位置误差,在3D中达到3.86mm.
- 增强型模型在2D情况下的性能比最先进的模型高出71%,在3D情况下则高出61%.
结论:
- 扩展的CTR动态模型为大空隙或高曲率通道中的操作提供了更准确的表示.
- 这一进步对于改善复杂的外科环境中的运动规划和控制至关重要.
- 经过验证的模型为机器人辅助的微创手术提供了更高的精度.
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