A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing
A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing
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DOI：
10.1002/aisy.202300641
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发表时间：
2024-01
影响因子：
7.4
通讯作者：
Feng Ju;Xinfeng Gu;Bai Chen;Xiaoyu Sun;Zhiyuan Shen;Bruce W. Drinkwater;Liping Ding
中科院分区：
文献类型：
--
作者：
Feng Ju;Xinfeng Gu;Bai Chen;Xiaoyu Sun;Zhiyuan Shen;Bruce W. Drinkwater;Liping Ding
本文提出了一种柔性手术机器人，其特征在于通过半球形磁体阵列驱动实现强磁转向，以及通过信标全聚焦方法（B‐TFM）实现高精度超声位置传感。介绍了一种半球形磁聚焦磁体阵列，并通过有限元分析优化了阵列参数，以提高驱动磁场。在100 mm处，与圆柱形磁体具有相同质量的阵列的磁场强度比圆柱形磁体的磁场强度高约1.8倍。利用磁铁阵列驱动，柔性机器人表现出灵活的转向能力，沿着预定义的轨迹导航。此外，在柔性机器人的尖端嵌入了1 mm × 1 mm的锆钛酸铅（PZT）贴片，作为B‐TFM超声成像的信标，用于检测机器人的位置。因此，整个导航过程可以在超声波位置传感系统的监督下执行，转向半径为100 mm时的最大误差为0.8 mm。
This article proposes a flexible surgical robot featuring strong magnetic steering achieved by a hemispherical magnet array actuation, and high‐accuracy ultrasonic position sensing achieved by a beacon total focusing method (b‐TFM). The hemispherical magnet array with magnetic focusing is described and its array parameters are optimized through finite element analysis to increase the magnetic field for actuation. The magnetic field strength at 100 mm for the array with the same mass as the cylindrical magnet is about 1.8 times higher than that of the cylindrical magnet. Using the magnet array actuation, the flexible robot exhibits the capability of agile steering to navigate along a predefined trajectory. In addition, a 1 mm × 1 mm lead zirconate titanate (PZT) patch is embedded into the tip of the flexible robot as a beacon for b‐TFM ultrasonic imaging to detect the position of the robot. Therefore, the entire navigation process can be executed under the supervision of the ultrasonic position sensing system, and the maximum error is 0.8 mm when the steering radius is 100 mm.