设计和运动控制的主奴控制内管道输液机器人机器人的运动控制
1Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
概括
这项研究引入了一种主-奴隶控制的内管内输管机器人 (EIR),用于改善运输期间的患者护理. 开发的机器人成功地实现了精确的运动控制,用于内内管外科手术.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 最少侵入性的手术
- 医疗器械 医疗器械
背景情况:
- 主-奴隶远程控制技术提高了运输期间的患者及时治疗,并降低了感染风险.
- 由内镜和主-奴隶系统指导的内管道输入提高了程序的效率和准确性.
研究的目的:
- 开发一个主-奴隶控制的内内腔输管机器人 (EIR).
- 为了提高最小侵入性内内管管道输入手术的安全性和精度.
主要方法:
- 开发了一种主-奴隶控制的内内腔输管机器人 (EIR).
- 操作增量映射的实施.
- 应用加权递归平均过方法以减少振动.
- 整合了一个虚拟固定装置,以尽量减少手术期间的错误处理.
主要成果:
- 模拟分析证实,加权递归平均选方法有效降低了振动.
- 虚拟固定装置成功地将操作员的运动限制在定义区域内.
- 实验验证验证了机器人的结构设计和控制方法.
结论:
- 开发的内内腔输液机器人 (EIR) 成功执行了手术所需的动作.
- 主-奴隶控制可实现高效和准确的内内管道输入.
- 该机器人展示了在紧急和运输环境中改善患者治疗结果的潜力.
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