开发用于神经外科应用的单端口双臂机器人可引导内镜
Ronghuai Qi1, Nidhi Malhotra2, Timothy A Brumfiel2
1Department of Mechanical Engineering, University of Nevada, Las Vegas (UNLV), Las Vegas, NV 89154 USA.
npj Robotics
|January 10, 2025
概括
这项研究引入了用于单端口手术的新型双臂可转向内镜,提高了机动性和控制能力. 机器人系统旨在实现直观的远程操纵,改善外科手术结果.
科学领域:
- 医疗机器人 医疗机器人
- 最少侵入性的手术
- 手术内镜是指手术内镜.
背景情况:
- 单端口手术机器人可以减少患者的创伤和更快的恢复.
- 目前的局限性包括限制访问,需要改进小型化和机动性.
- 进步对于扩大单端口机器人手术的能力至关重要.
研究的目的:
- 设计和建模一种新的单端口,双臂机器人可引导内镜.
- 将这种内镜与工业机器人手臂集成,以提高操作效果.
- 为了实现复杂的外科任务的直观和远程多臂控制.
主要方法:
- 拟议的设计包括一个主要和两个小的可导向导管,具有9个自由度 (DoF).
- 由肌驱动的关节由一个紧的执行系统控制,构成了内镜的核心.
- 动力学和静态模型是通过动力学轨迹来导出和验证的.
主要成果:
- 由此衍生的动力学和静态模型通过实验测试得到了验证.
- 对于小管的远端端位置错误,获得了0.98mm和0.66mm的平均根平均平方误差 (RMSE).
- 这些结果证明了拟议的机器人内镜设计的准确性和精度.
结论:
- 开发的机器人可引导内镜设计显示了改善单端口手术的巨大潜力.
- 该系统提供了增强的机动性和直观的控制,解决当前的局限性.
- 进一步开发可能会导致更先进的远程和多臂手术能力.
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