基于双箭负波桑比率结构的头骨切割手术机器人抑制振动
Zhenzhong Liu1,2, Shilei Han1,2, Runfeng Zhang1,2
1Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China.
概括
一种新的紧件设计显著减少了机器人切手术的振动. 这种双箭头负波桑比率结构通过提高机器人的稳定性来提高手术精度和患者安全.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 材料科学 材料科学 材料科学
背景情况:
- 手术机器人中的振动在切手术过程中降低了精度和安全性.
- 建议采用带有双箭头负波桑比率结构的子来减轻这些振动.
研究的目的:
- 评估新设计的抑制振动的能力.
- 在机器人切模拟和实验中,将优化的性能与原始设计进行比较.
主要方法:
- 进行了有限元模拟,以模拟振动行为.
- 进行了头骨钻探实验,以验证模拟结果并评估现实世界的性能.
主要成果:
- 双箭显著降低了振动频率 (X: 72.4%, Y: 53.0%, Z: 66.9%) 和位移 (X: 59.0%, Y: 84.5%).
- 通过特定的横向 (1.2毫米) 和纵向 (1.37毫米) 间距,可以实现最佳的阻尼.
- 该结构在提高振动稳定性方面表现出有效性.
结论:
- 双箭可以有效地减少机器人切割过程中的振动.
- 这种被动结构设计增强了稳定性和安全性,为主动控制方法提供了可行的替代方案.
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