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相关实验视频

Updated: May 16, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
11:06

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

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一个柔软的充气式电缆驱动并行机器人,具有可变刚度的终端效应器,用于先进的干预内镜.

Jianlin Yang, Zhangxi Zhou, Mark Runciman

    IEEE transactions on bio-medical engineering
    |April 1, 2025
    PubMed
    概括
    此摘要是机器生成的。

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    这项研究介绍了一种新的有线驱动平行机器人 (CDPR),用于先进的干预内镜. 该系统提供精确的控制,力传感和可调节的刚度,增强内镜程序.

    科学领域:

    • 机器人技术 机器人技术 机器人技术
    • 医疗器械 医疗器械
    • 手术技术 手术技术

    背景情况:

    • 干预内镜需要精确的操纵和触觉反.
    • 现有的内镜工具往往缺乏可变硬度和集成力传感能力.
    • 电缆驱动的平行机器人 (CDPR) 为最小侵入性外科应用提供了一个有前途的平台.

    研究的目的:

    • 介绍一款具有可变刚度端效应器的新型电缆驱动平行机器人 (CDPR).
    • 将力传感和滚动自由度集成到终端效应器中.
    • 评估CDPR系统在模拟内镜任务中的性能.

    主要方法:

    • 开发了一个CDPR系统,使用软充气脚手架和由两个电缆驱动的多单元端效应器.
    • 通过调整电缆张力来实现可变的刚性.
    • 使用与力传输元件相同的电缆进行了力量估计.
    • 主-奴隶控制和模拟的外科任务被用于绩效评估.

    主要成果:

    • 机器人实现了大约0.5毫米的平均手动跟踪误差.
    • 模拟的内镜任务 (转移,线程线程,针线程) 已成功执行.
    • 在特定条件下,平均力估计误差为0.026N.

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    Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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    Last Updated: May 16, 2025

    Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
    11:06

    Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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    Author Spotlight: Cutting-Edge Robotic Heller Myotomy Protocol for Treatment of Achalasia
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  • 用户研究表明,硬度排名与视觉反的准确性为100%.

    • 结论:

    • 在CDPR平台上成功演示了具有滚动DoF和力传感的可变刚度终端效应器.
    • 开发的用于可变刚度和力传感的方法具有成本效益.
    • 这项技术在改善胃肠内镜程序方面具有显著的潜力.