强大的磁性驱动系统,通过单独定位的线圈堆叠,增强了电场关节
Onder Erin1, Xinhao Chen2, Adrian Bell2
1Johns Hopkins University, Laboratory for Computational Sensing and Robotics, Baltimore, MD, 21218, USA. oerin@jhu.edu.
Scientific reports
|October 4, 2024
概括
一个新的磁性驱动系统,可变外径单独可定位的线圈堆 (VORIACS),显著提高了未绑定的外科工具的力输出. 这一突破增强了机器人手术的能力,使精确的操纵和组织透成为可能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 医疗器械 医疗器械
背景情况:
- 微型化医疗工具有望减少外科创伤和更快的恢复.
- 无带磁器件可以进入困难的手术部位,但受到低力/扭矩输出限制.
- 现有的磁性启动系统在需要机械相互作用的任务中扎,例如组织透.
研究的目的:
- 开发一种新的磁性执行系统,以克服小型化无手术设备中的力和扭矩限制.
- 为了优化磁性驱动,在十米尺度的工作空间内产生高功率输出.
主要方法:
- 设计并实施了可变外半径单独可定位线圈堆 (VORIACS),具有12个单独控制的线圈.
- 针对二维磁场产生而优化的线圈,最大功耗为12kW.
- 使用六个双通道电机控制器和六个独立的电源供电,以精确操作线圈.
主要成果:
- VORIACS 实现了 1.673 N (3834 mT/m 梯度) 的力输出,与单线圈系统 (0.31 N,710 mT/m 梯度) 相比增加了五倍.
- 在模拟肝脏组织刚性的模拟模拟凝中成功穿透针.
- 以可变半径的堆叠线圈展示了增强的磁场操纵能力,改善了控制和多工具使用的潜力.
结论:
- VORIACS显著提高了无机器人设备磁性执行系统的力和扭矩能力.
- 该系统的高力输出能够实现关键的外科任务,如组织透,以前无法通过无磁工具实现.
- VORIACS代表了小型化机器人手术的重大进步,改善了控制和扩大了手术可能性.
相关概念视频
01:18Magnetic Field Due to Two Straight Wires
2.4K
Consider two parallel straight wires carrying a current of 10 A and 20 A in the same direction and separated by a distance of 20 cm. Calculate the magnetic field at a point "P2", midway between the wires. Also, evaluate the magnetic field when the direction of the current is reversed in the second wire.
2.4K
01:17Force On A Current Loop In A Magnetic Field
3.2K
Magnetic forces on wires carrying current are most frequently applied in motors. A DC motor is a device that converts electrical energy into mechanical work. In motors, wire loops are enclosed in a magnetic field. When current flows through the loops, the magnetic field applies torque, which causes the shaft to rotate. The direction of the current is reversed once the loop's surface area is lined up with the magnetic field, causing a constant torque on the loop. During the process,...
3.2K
01:13Torque On A Current Loop In A Magnetic Field
3.9K
The most common application of magnetic force on current-carrying wires is in electric motors. These consist of loops of wire, which are placed between the magnets with a magnetic field. When current flows through the loops, the magnetic field applies torque, which causes the shaft to rotate, thus converting electrical energy to mechanical energy.
Consider a rectangular current-carrying loop containing N turns of wire, placed in a uniform magnetic field. The net force on a current-carrying loop...
Consider a rectangular current-carrying loop containing N turns of wire, placed in a uniform magnetic field. The net force on a current-carrying loop...
3.9K
01:28Magnetic Field Due To A Thin Straight Wire
4.8K
Consider an infinitely long straight wire carrying a current I. The magnetic field at point P at a distance a from the origin can be calculated using the Biot-Savart law.
4.8K
01:16Magnetic Field Of A Current Loop
4.4K
Consider a circular loop with a radius a, that carries a current I. The magnetic field due to the current at an arbitrary point P along the axis of the loop can be calculated using the Biot-Savart law.
4.4K
01:18Magnetic Field of a Solenoid
3.8K
A solenoid is a conducting wire coated with an insulating material, wound tightly in the form of a helical coil. The magnetic field due to a solenoid is the vector sum of the magnetic fields due to its individual turns. Therefore, for an ideal solenoid, the magnetic field within the solenoid is directly proportional to the number of turns per unit length and the current. Conversely, the magnetic field outside the solenoid is zero.
Consider a solenoid with 100 turns wrapped around a cylinder of...
Consider a solenoid with 100 turns wrapped around a cylinder of...
3.8K