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前列腺向:紧型机器人与波步进电机用于MRI引导针治疗.
IEEE transactions on bio-medical engineering
|November 10, 2025
概括
一个新的机器人系统使用了新的Harmonic Pneumatic Motors来准确地使用磁共振 (MR) 引导瘤准. 这种兼容MR的机器人提高了软组织干预的准确性,对图像质量影响最小.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 医疗成像医学成像
- 生物医学工程 生物医学工程
背景情况:
- 磁共振成像 (MRI) 提供卓越的图像质量和对比度,非常适合软组织瘤向干预程序.
- 现有的MRI引导干预的机器人系统面临着兼容性和精度方面的挑战.
研究的目的:
- 展示一种创新的,MRI兼容的机器人系统,用于使用MRI精确瘤准.
- 引入新的波气动电机,在MR环境中驱动机器人系统.
主要方法:
- 开发一个四个自由度 (DOFs) 机器人,使用四个和式气动电机.
- 式气动机采用式变速箱机制来产生扭矩.
- 整合一个双阶段的针头指南,以提高准准确度.
主要成果:
- 波气动电机实现了0.9°的步幅大小和825 mN·m的最大输出扭矩.
- 实验测试证实了机器人的高定位精度为1.56毫米.
- MR 测试显示信号与噪声比率 (SNR) 的降低是可以忽略不计的,这表明MR的兼容性很好.
结论:
- 波式气动机动机器人为紧型MRI机器人提供了显著的进步.
- 该系统为MRI引导的干预程序提供了精确,安全和兼容的解决方案.
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