设计和控制磁性手术带机的操纵器与传输电缆传输
1State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Micromachines
|June 27, 2025
概括
这项研究引入了新的磁性和电缆驱动的手术子,减少操纵器直径以提高机动性. 一个新的预拉伸扣扣系统有效地解关节运动,增强手术机器人控制.
科学领域:
- 医疗机器人 医疗机器人
- 外科手术仪器仪表的使用
- 机械工程 机械工程
背景情况:
- 磁性驱动使手术仪器在最小侵入性手术中实现非接触式功率传输.
- 由于紧的设计,现有的磁性手术子面临着操纵器直径和关节运动合的挑战.
研究的目的:
- 开发磁性和电缆驱动的手术子,以减少操纵器直径和提高机动性.
- 通过一种新的脱机制来解决电缆驱动操纵器中的联合运动合.
主要方法:
- 设计了微型预拉伸扣,用于连接和预拉伸驱动电缆.
- 开发了一个数学模型来描述基于接头角度的联合驱动电缆长度变化.
- 将模型集成到控制程序中,以便实时补偿电缆长度变化.
主要成果:
- 通过通过电缆传输将电源分开来实现操纵器中显著的直径缩小.
- 成功解关节运动,在单个关节运动期间,合关节角度变化在2°以内.
- 实验验证了开发的操纵器的脱和控制有效性.
结论:
- 新型磁性和电缆驱动的手术具提供了增强的机动性和精确的控制.
- 预拉伸扣和数学建模有效地解决了紧的机器人系统中联合运动合的问题.
- 这种设计推动了开发更小,更有能力的手术机器人,用于微创手术.
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