College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
The State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China.
Int J Med Robot. 2019 Aug;15(4):e2007. doi: 10.1002/rcs.2007. Epub 2019 Jun 9.
Due to the outstanding compliance and dexterity, continuum robot have great advantages in confined space applications, especially in minimally invasive surgery (MIS). However, the vascular environment is complicated and tortuous, it is necessary to preoperative motion planning and navigation for a continuum robot.
A cable-driven continuum robot is proposed, and the mapping relationship among the driven space, joint space and task space, as well as the decoupling algorithm are analyzed based on piecewise constant curvature assumption. Moreover, a navigation method is presented to achieve semi-autonomous interventional surgery based on the vascular constraints by using the backbone cure method.
Finally, by using the prototype, the interventional simulations and experiments for a simulated glass blood vessel are developed to validate the feasibility and maneuverability of the proposed model and navigation method.
The established motion model and navigation method can be used as a motion control and navigation reference.
由于出色的合规性和灵活性，连续体机器人在受限空间应用中具有很大的优势，特别是在微创手术 (MIS) 中。然而，血管环境复杂且曲折，连续体机器人在进入前需要进行运动规划和导航。
提出了一种基于缆索驱动的连续体机器人，并基于分段常数曲率假设，分析了驱动空间、关节空间和任务空间之间的映射关系以及解耦算法。此外，还提出了一种导航方法，通过使用骨干曲线方法，利用血管约束来实现基于半自动介入手术。
最后，通过使用原型机，针对模拟玻璃血管进行了介入模拟和实验，以验证所提出模型和导航方法的可行性和可操作性。
所建立的运动模型和导航方法可用作运动控制和导航参考。
