Design and mechanics of continuum robots for surgery
Design and mechanics of continuum robots for surgery
复制标题
DOI：
--
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
R. Webster
中科院分区：
文献类型：
--
作者：
R. Webster
本文描述了两种新的柔性、连续的主干机器人灵巧性增强装置的设计和建模，以及在手术中对它们进行机器人操作的算法。这些可控制的针头和活跃的插管提供了纤薄(针头大小)形式的灵活性，使手术工具能够在人体内“转弯”。机器人工具操纵算法对于快速准确地将多种手术工具与规划的姿势和入射向量对齐是有用的。利用人工智能的技术，它们不需要繁琐的校准，不需要完整的机器人运动学知识，甚至不需要编码，使它们非常适合不确定的现实世界临床环境。仿真和实验结果证明了算法的准确性和快速性。当介入是以针为基础时，可导向的针提供了一种在插入开始后在软组织内实现灵活性的方法。斜面顶端产生的不对称力被机器人利用来产生可控的偏转，而曲率则通过针头特性和几何形状的设计来增强。将针头建模为非完整系统，模型参数与实验数据吻合。一个新的控件
This dissertation describes design and modeling of two new flexible, continuous backbone robotic dexterity enhancement devices, and algorithms to robotically manipulate them in surgery. These steerable needles and active cannulas provide dexterity in thin (needle-sized) form factors, permitting surgical tools to “turn corners” inside the human body. The robotic tool manipulation algorithms are useful for rapidly and accurately aligning many kinds of surgical tools with planned poses and entry vectors. Drawing on techniques from artificial intelligence, they do not require cumbersome calibration, complete knowledge of robot kinematics, or even encoding, making them well-suited to uncertain real-world clinical environments. Simulations and experimental results demonstrate the accuracy and speed of the algorithms. When an intervention is needle-based, steerable needles provide a means to achieve dexterity within soft tissue after insertion begins. Asymmetric forces generated by a bevel tip are harnessed robotically to generate controllable deflection, and curvature is enhanced by design of needle properties and geometry. The needle is modeled as a nonholonomic system with model parameters fit to experimental data. A new control