YoMo:吉村连续操纵器用于MR环境
Yu Dang1,2,3,4, Jingyu Zhang1,2,3,4, Jie Chen1,2,3,4
1College of Artificial Intelligence, Nankai University, Tianjin, China.
Soft robotics
|October 10, 2024
概括
本研究介绍了吉村连续操纵器 (YoMo),这是一个用于在磁共振 (MR) 环境中精确控制的原创机器人. YoMo展示了精确的轨迹跟踪,突出了其在医疗应用中的潜力.
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:
- 原始机器人为各种应用提供了多功能变形,特别是在医学领域.
- 对机器人操纵器的精确控制对于像MRI扫描仪这样的狭窄空间内的微创医疗程序至关重要.
研究的目的:
- 提出和验证一种基于原木的新型连续操纵器,即吉村连续操纵器 (YoMo),用于在磁共振 (MR) 环境中准确的尖端定位.
- 开发和评估YoMo的先进建模和控制策略,使在不同条件下精确的轨迹跟踪.
主要方法:
- 设计和制造的YoMo使用吉村折叠模式从单张纸,通过电缆执行曲和缩短.
- 基于恒定曲率假设的动力学模型的开发,用于基准预测,并将库普曼运算子理论应用于取决于方向的尖端位置建模.
- 基于库普曼的线性二次调节器 (K-LQR) 的实施,用于轨迹跟踪控制和实验验证YoMo性能,包括刚性和工作空间.
主要成果:
- 基于库普曼的模型在预测YoMo的尖端位置方面明显优于恒定曲率模型.
- 实验结果证实了YoMo在不同方向,速度和轨迹上准确追踪轨迹的能力.
- 对YoMo的刚性和工作空间的描述表明它适合于实际应用.
结论:
- 拟议的吉村连续操纵器 (YoMo) 为MR环境中精确的机器人操纵提供了可行的解决方案.
- 基于库普曼运算子理论的建模和K-LQR控制策略为轨迹跟踪提供了卓越的准确性和稳定性.
- YoMo的设计和性能表明未来医疗应用的巨大潜力,需要MR兼容性和高灵巧性.
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