Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation.
Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation.
复制标题
肌腱驱动的连续性机器人用于神经内镜镜检查：扩展运动图的验证用于滞后操作。
DOI：
10.1007/s11548-015-1310-2
复制
发表时间：
2016-04
影响因子：
3
通讯作者：
Hata N
中科院分区：
文献类型：
--
作者：
Kato T;Okumura I;Kose H;Takagi K;Hata N
滞后操作是机器人辅助手术中使用的肌腱驱动驱动中的一个突出问题，因为它与控制和轨迹规划的运动学映射不兼容。在这里，展示了一种新型肌腱驱动连续体机器人，旨在适应现有的神经内窥镜，并具有用于滞后操作的运动学映射。由于注意到肌腱张力是滞后操作的一个显着因素，因此开发了扩展正向运动映射（FKM）。在实验中，研究了机器人中每个部件对于滞后操作的意义。此外，通过实验确定了扩展 FKM 的姿势预测精度，并与分段常曲率假设 (PCCA) 进行了比较。肌腱是影响机器人滞后运行的最主要因素。包括肌腱摩擦力的扩展 FKM 可以更准确地预测滞后操作中的姿势（单肌腱布局和对抗肌腱布局分别为 2.89 毫米和 3.87 毫米）。测量的精度在脑室内肿瘤神经内镜切除计划的 5 mm 目标值内。肌腱中的摩擦力是机器人滞后操作的最主要因素。包含该因子的扩展FKM可以提高滞后操作中姿势的预测精度。通过使用扩展的 FKM，可以在神经内窥镜手术的目标值内规划新机器人的轨迹。
The hysteresis operation is an outstanding issue in tendon-driven actuation—which is used in robot-assisted surgery—as it is incompatible with kinematic mapping for control and trajectory planning. Here, a new tendon-driven continuum robot, designed to fit existing neuroendoscopes, is presented with kinematic mapping for hysteresis operation. With attention to tension in tendons as a salient factor of the hysteresis operation, extended forward kinematic mapping (FKM) has been developed. In the experiment, the significance of every component in the robot for the hysteresis operation has been investigated. Moreover, the prediction accuracy of postures by the extended FKM has been determined experimentally and compared with piecewise constant curvature assumption (PCCA). The tendons were the most predominant factor affecting the hysteresis operation of the robot. The extended FKM including friction in tendons predicted the postures in the hysteresis operation with improved accuracy (2.89 mm and 3.87 mm for the single and the antagonistic tendons layouts, respectively). The measured accuracy was within the target value of 5 mm for planning of neuroendoscopic resection of intraventricle tumors. The friction in tendons was the most predominant factor for the hysteresis operation in the robot. The extended FKM including this factor can improve prediction accuracy of the postures in the hysteresis operation. The trajectory of the new robot can be planned within target value for the neuroendoscopic procedure by using the extended FKM.