用于微创神经外科的单端口三臂机器人工具的设计与建模
Design and Modeling of a Single-Port Three-Arm Robotic Tool for Minimally Invasive Neurosurgery
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中文总结 AI 辅助
本文提出一种含主管鞘和三个可转向副管鞘的单端口三臂机器人工具，集成12自由度与7自由度臂，通过肌腱驱动实现多臂操作，并验证了其静态与运动学模型。
中文摘要 AI 辅助
手术机器人需要高度灵巧且紧凑的机器人系统，能够在受限的解剖空间内有效操作。然而，由于单切口提供的通路有限，这些机器人的小型化和可操作性仍需改进。在本文中，我们提出了一种单端口三臂机器人工具的设计与建模，该工具包含一个主管鞘（外径7.14毫米）和三个可转向的副管鞘（外径1.93毫米）。通过将所提出的12自由度（DoFs）可转向机器人工具与7自由度机器人臂集成，该系统有望实现多臂操作能力。我们介绍了由肌腱驱动关节组成的可转向机器人工具的设计，该工具由紧凑的驱动系统控制，推导了运动学模型，并通过实验验证了静态模型和运动学模型。性能通过计算实验数据与运动学模型之间的均方根误差（RMSE）和平均绝对误差（MAE）进行评估。
英文摘要
Surgical robots require highly dexterous and compact robotic systems capable of operating effectively within confined anatomical spaces. However, due to limited access provided by a single incision, the miniaturization and maneuverability of these robots still need to be improved. In this paper, we propose the design and modeling of a single-port three-arm robotic tool containing one major cannula (7.14 mm outer diameter (OD)) and three steerable minor cannulas (1.93 mm OD). By integrating the proposed 12 degrees-of-freedom (DoFs) steerable robotic tool with a 7-DoF robotic arm, this robotic system can potentially achieve multi-arm manipulation capability. We present the design of the steerable robotic tool consisting of tendon-driven joints controlled by a compact actuation system, derive the kinematic model, and validate both the static and kinematic models through experiments. The performance is evaluated with the root mean square error (RMSE) and mean absolute error (MAE) computed between the experimental data and the kinematic model.
发表机构
- University of Nevada, Las Vegas（内华达大学拉斯维加斯分校）
机构由 AI 辅助整理，请以论文原文为准。
