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一件3D打印的气动导管:双段设计,集成机器人控制,用于内血管干预.

Shaopeng Jiang1, Lingyun Di1, Noah Barnes2

  • 1Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.

IEEE International Conference on Soft Robotics. IEEE International Conference on Soft Robotics
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概括

这项研究介绍了一种新的3D打印软机器人导管与气动曲单元用于内血管干预. 这种具有成本效益的系统提供了精确的控制和广泛的曲范围,非常适合快速原型和教育.

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科学领域:

  • 医疗机器人 医疗机器人
  • 软机器人软机器人 软机器人软机器人
  • 生物医学工程 生物医学工程

背景情况:

  • 软机器人增强了医疗应用,例如使用可引导导管的内血管干预.
  • 目前的导管面临着复杂的制造,控制,歇斯底里和非线性材料特性方面的挑战.

研究的目的:

  • 推出了一种新的3D打印软机器人导管,配有集成的气动曲单元.
  • 优化导管设计,以减少直径和提高内血管程序的方向性.

主要方法:

  • 使用有限元分析 (FEA) 来优化设计和最小化直径至6.4mm.
  • 集成了一个外部机器人控制系统,用于物理实验和曲能力的评估.
  • 开发了一个3D打印的空洞尖端,配有两个气动曲单元,用于双轴旋转.

主要成果:

  • 在集成控制下实现了熟练的形状控制,具有广泛的曲范围 (-47°至169°).
  • 证明了准确的符合"C"",S"和"J"形状的准确度,闭环准确度为0.53°.
  • 在导管原型中表现出低歇斯底里和高重复性.

结论:

  • 新型气动可导向导管系统为快速原型设计提供了务实且具有成本效益的解决方案.
  • 该系统非常适合在内血管干预中进行初步概念测试和教育应用.
  • 这一进步简化了软机器人导管用于最少侵入性手术的开发.