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相关概念视频

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Magnetic Resonance Imaging

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Magnetic resonance imaging (MRI) is a noninvasive medical imaging technique based on a phenomenon of nuclear physics discovered in the 1930s, in which matter exposed to magnetic fields and radio waves was found to emit radio signals. In 1970, a physician and researcher named Raymond Damadian noticed that malignant (cancerous) tissue gave off different signals than normal body tissue. He applied for a patent for the first MRI scanning device in clinical use by the early 1980s. The early MRI...
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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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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.

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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.

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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.