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A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

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机器人超声波扫描终端效应器具有可调节的恒定接触力.

Zehao Wu¹, Xianli Wang¹, Yuning Cao¹

¹Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China.

Cyborg and bionic systems (Washington, D.C.)

|May 5, 2025

概括

这项研究介绍了一种机器人超声波系统,该系统使用混合动力主动-被动力控制来保持一致的探测器接触. 这项创新提高了超声波成像的稳定性和可重复性,帮助医疗专业人员.

科学领域:

医疗成像医学成像
机器人技术机器人技术机器人技术
控制系统控制系统

背景情况:

超声波扫描是软组织成像的关键,无辐射的诊断工具.
在手动超声波中,操作者依赖的接触力导致图像质量不一致和不稳定.
现有的系统缺乏强大的解决方案,以保持不断的探针-组织相互作用.

研究的目的:

开发和评估一个机器人超声波扫描系统,具有恒定力终效应器.
为了应对操作员变化的挑战,实现稳定的超声波成像.
为了提高超声波检查的重复性和易用性.

主要方法:

实施一种新的混合动力主动-被动力控制策略,用于终端效应器.
集成了一种被动的力缓冲机制和一个积极的定位系统.
使用模型和人类志愿者的实验验证.

主要成果:

机器人系统成功地保持了超声波探针与不同表面之间的恒定接触力.
获得合格的超声波图像的高可重复性被证明.
验证了机器人超声波扫描系统的易操作性.

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结论:

拟议的机器人超声波扫描系统提供了一个稳定且可重复的成像解决方案.
混合力控制方法有效地管理接触力变化.
这项技术为协助临床医生进行超声波检查提供了有希望的进步.