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Updated: Jan 18, 2026

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平行电缆驱动的前列腺穿孔机器人:设计和性能评估

Yupeng Zou1, Tianyu Lan1, Yanxing Zhang1

  • 1College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao, China.

The international journal of medical robotics + computer assisted surgery : MRCAS
|September 7, 2025
PubMed
概括

一个新的平行电缆驱动 (PCD) 机器人简化了MRI磁场内的前列腺穿孔手术. 这种机器人系统表现出高精度和刚性,克服了工作空间的限制,改善了外科手术程序.

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科学领域:

  • 医疗机器人 医疗机器人
  • 手术技术 手术技术
  • 生物医学工程 生物医学工程

背景情况:

  • 由于工作空间有限和强磁场,MRI环境对机器人手术系统设计构成重大挑战.
  • 简化机器人结构对于MRI扫描仪中有效的前列腺穿刺程序至关重要.

研究的目的:

  • 提出和评估一款用于前列腺穿孔手术的新型平行电缆驱动 (PCD) 机器人.
  • 为了解决MRI磁场和有限的工作空间所带来的设计挑战.

主要方法:

  • 开发一个平行电缆驱动 (PCD) 前列腺穿孔机器人与初步材料设计.
  • 建立动力学,静态学和刚性模型,并核实匙可行的工作空间.
  • 使用多体模拟和运动精度实验 (平面和空间) 进行性能分析.

主要成果:

  • 机器人实现了高运动精度,在幻影穿孔实验中水平位置误差为0.35毫米和0.4毫米.
  • 评估了硬度性能,证明了机器人能够执行精确的手术任务.
  • 平行电缆驱动的设计被证明与强磁场兼容.

结论:

  • 拟议的非平行电缆驱动设计简化了MRI兼容前列腺穿孔手术的机器人结构.
关键词:
通过平行电缆驱动的平行电缆驱动.穿刺手术机器人 穿刺手术机器人模拟和实验验证验证.wrench-feasible的工作空间分析

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  • 机器人表现出高运动精度和卓越的刚性,这对于外科精确度至关重要.
  • 这种创新的设计克服了MRI环境挑战,提高了机器人辅助前列腺干预的潜力.