用于MRI引导下经皮介入治疗的具有多路动力传输的机器人系统。
Robotic system with multiplex power transmission for MRI-guided percutaneous interventions.
作者信息
Burdette Everette C, Kazanzides Peter, Iordachita Iulian
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2016 Aug;2016:5228-5232. doi: 10.1109/EMBC.2016.7591906.
Abstract
In minimally invasive prostate percutaneous interventions, Magnetic Resonance Imaging (MRI) compatible robotic assistive systems developed over the years tend to have multiple degrees of freedom (DOF) to accomplish complex surgical tasks. This paper presents a novel design of an MRI-compatible transmission that allows one driving motor to control a multiplexed DOF robot system. The transmission could reduce the number of motors in the system, while maintaining the functionality of the system, by controlling each motion sequentially rather than simultaneously. A series of preliminary experiments as well as a targeting accuracy test are conducted to evaluate the accuracy of the system.
摘要
在微创前列腺经皮介入手术中，多年来开发的磁共振成像（MRI）兼容的机器人辅助系统往往具有多个自由度（DOF）以完成复杂的手术任务。本文提出了一种MRI兼容传动装置的新颖设计，该装置允许一个驱动电机控制一个多自由度机器人系统。通过依次而非同时控制每个运动，该传动装置可以减少系统中的电机数量，同时保持系统的功能。进行了一系列初步实验以及靶向精度测试以评估系统的准确性。
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