用于MRI室内经针遥操作的主从机器人操纵器
A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber
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中文总结 AI 辅助
该研究开发了一种MRI安全的主从机器人操纵器，可实现多模态控制，支持协作任务，经初步实验验证适用于MRI室内床边手动控制模式下的活体猪介入操作。
中文摘要 AI 辅助
我们提出了一种MRI安全的主从机器人操纵器，用于MRI室内的腹部介入操作。由人操作的2+1自由度主控制器操纵器通过流体传动将运动和力传递给2+1自由度从控制器操纵器。此外，数字主控制器提供了多模态控制能力，超越了以往研究中常见的分轴或模式可切换的混合人-数字控制器配置。高输入阻抗、低泄漏的弹性体流体致动器被用于远程成角控制；低摩擦石墨活塞缸被用于进针轴的远程驱动，可实现亚牛顿力透明度和亚毫米级运动传输，适用于床边流体管道长度。该设备支持实时MRI引导介入操作，允许手动、数字、混合及协作控制模式。本文展示了协作任务，如辅助组织穿透、故障驱动虚拟夹具以及通过反馈控制实现的运动补偿。初步MRI扫描仪结果表明，该操纵器在床边手动控制模式配置下，对活体猪实验具有功能可行性。
英文摘要
We present a MR safe, master-slave robot manipulator for abdominal interventions in the MRI chamber. A human operated 2+1-DoF master controller manipulator transmits motion and force to a 2+1-DoF slave manipulator via fluid transmission. Jointly, a digital master controller provides multimodal control capability beyond common split axis or mode switchable hybrid human-digital controller configurations found in previous studies. High input impedance, low-leakage, elastomeric fluid actuators are delegated to remote angulation control. Low-friction graphite piston cylinders are delegated to needle insertion axis remote actuation given the sub-newton force transparency and sub-millimeter motion transmission over bedside fluid piping lengths. The device enables real-time MRI guided interventions allowing manual, digital, hybrid, and collaborative control modes. Collaborative tasks such as assisted tissue penetration, fault-driven virtual fixture, and motion compensation through feedback control are presented in this paper. Preliminary MR scanner results demonstrate manipulator functional viability for an in-vivo pig experiment in bedside, manual control mode configuration.
