Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body
Design and Kinematics Analysis of a Robotic Pediatric Neuroendoscope Tool Body
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DOI：
10.1109/tmech.2020.2967748
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发表时间：
2020-04-01
影响因子：
6.4
通讯作者：
Desai, Jaydev P.
中科院分区：
文献类型：
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作者：
Chitalia, Yash;Jeong, Seokhwan;Desai, Jaydev P.
内窥镜检查通常用于治疗脑积水，这是一种常见的儿科神经外科疾病。在这些手术中使用的刚性内窥镜工具具有许多局限性。在这篇文章中，我们提出了四个新的设计，可操纵的两个自由度的机器人工具机构部署通过刚性内窥镜和手持控制器，这样的工具机构。这些设计中的每一种都利用了被称为非对称切口接头的肌腱驱动接头，同时改变了肌腱布线技术。此外，我们设计了一个紧凑的手持控制器，这个可操纵的工具机构，其中包括直流电机驱动丝杠致动肌腱的每个机器人的关节。设计了一种基于扰动消除器的电机控制系统，使电机在各种载荷条件下都能达到所需的钢筋束位移。接下来，我们分析了双向非对称切口关节的运动学，推导出关节角度和相应肌腱位移之间的关系。最后，我们测试我们提出的四个设计的相互耦合，并提供一些见解，我们的测试结果。我们发现，肌腱路由策略中起着重要的作用，在最大限度地减少肌腱耦合的中尺度连续肌腱驱动的机器人和结合这些不对称关节的每个属性可以证明是有益的，在提高这样的两个自由度的机器人的性能。
Endoscopy is often used to treat hydrocephalus, a common pediatric neurosurgical condition. Rigid endoscopic tools used in these procedures have many limitations. In this article, we propose four novel designs for a steerable two degree-of-freedom robotic tool body to be deployed through a rigid endoscope and a handheld controller for such a tool body. Each of these designs make use of tendon-driven joints known as asymmetric notch joints, while varying tendon routing techniques. Furthermore, we design a compact handheld controller for this steerable tool body, which consists of dc motors driving lead screws to actuate the tendons for each of the robot's joints. A disturbance observer-based control system for these motors is designed to allow the motor to reach the desired tendon displacements under various loading conditions. Next, we analyze the kinematics of the bidirectional asymmetric notch joint, deriving a relationship between the joint angle and corresponding tendon displacement. Finally, we test each of our four proposed designs for interjoint coupling and provide some insights into the results of our tests. We find that tendon routing strategies play an important role in minimizing tendon coupling for meso-scale continuum tendon-driven robots and combining the properties of each of these asymmetric joints can prove to be beneficial in improving the performance of such two degree-of-freedom robots.