Zhang Yongde, Sun Liyi, Liang Dexian, Du Haiyan
Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China.
Key Laboratory of Advanced Manufacturing and Intelligent Technology, Harbin University of Science and Technology, Harbin, China.
Appl Bionics Biomech. 2020 Dec 30;2020:8852228. doi: 10.1155/2020/8852228. eCollection 2020.
Magnetic Resonance Imaging has better resolution for soft tissue; at the same time, the robot can work in a stable manner for a long time. MRI image-guided breast interventional robots have attracted much attention due to their minimally invasive nature and accuracy. In this paper, a hydraulic-driven MRI-compatible breast interventional robot is proposed to perform breast interventional procedure.
First is the analysis of the design requirements of the hydraulic-driven MRI-compatible breast interventional robot, and then the design scheme is determined. Second, the three-dimensional model and the link frames are established. The workspace of the robot end point is solved by MATLAB/Simulink software. Then, the 3D printing technology is used to make a physical model of the MRI-compatible breast interventional robot. After assembly and debugging, the physical model is used for workspace verification, and the simulation result of the workspace shows that it is correct. Finally, the experimental research on the positioning error of the hydraulic drive is carried out, which established the theoretical foundation for the follow-up control research of the robot.
The positioning error has nothing to do with the motion distance, speed, and length of the selected tubing. The errors are 0.564 mm, 0.534 mm, and 0.533 mm at different distances of 40 mm, 80 mm, and 120 mm, respectively. The errors are 0.552 mm, 0.564 mm, and 0.559 mm at different speeds of 3 mm/s, 5 mm/s, and 8 mm/s, respectively. The errors are 0.564 mm, 0.568 mm, and 0.548 mm for different lengths of 0.5 m, 1 m, and 1.6 m, respectively. Then, the robot's working space on the plane and the plane meets the conditions.
The structure of a differential rotary breast interventional robot is determined, with the link frames assigned to the mechanism and the Denavit-Hartenberg parameters given. Workspace simulation of MRI-compatible breast interventional robot is done in MATLAB. The 3D printed MRI-compatible breast interventional robot is assembled and debugged to verify that its working space and positioning error meet the requirements.
磁共振成像对软组织具有更好的分辨率；同时，机器人能够长时间稳定工作。磁共振成像引导的乳腺介入机器人因其微创性和准确性而备受关注。本文提出一种液压驱动的磁共振兼容乳腺介入机器人，用于执行乳腺介入手术。
首先分析液压驱动的磁共振兼容乳腺介入机器人的设计要求，进而确定设计方案。其次，建立三维模型和连杆坐标系。利用MATLAB/Simulink软件求解机器人末端的工作空间。然后，采用3D打印技术制作磁共振兼容乳腺介入机器人的物理模型。经过组装和调试后，使用该物理模型进行工作空间验证，工作空间的仿真结果表明其正确。最后，开展液压驱动定位误差的实验研究，为机器人后续的控制研究奠定理论基础。
定位误差与运动距离、速度以及所选管道长度无关。在40毫米、80毫米和120毫米的不同距离处，误差分别为0.564毫米、0.534毫米和0.533毫米。在3毫米/秒、5毫米/秒和8毫米/秒的不同速度下，误差分别为0.552毫米、0.564毫米和0.559毫米。对于0.5米、1米和1.6米的不同长度，误差分别为0.564毫米、0.568毫米和0.548毫米。然后，机器人在xy平面和yz平面上的工作空间符合条件。
确定了差动旋转式乳腺介入机器人的结构，给出了连杆坐标系分配给机构以及Denavit-Hartenberg参数。在MATLAB中对磁共振兼容乳腺介入机器人进行工作空间仿真。对3D打印的磁共振兼容乳腺介入机器人进行组装和调试，以验证其工作空间和定位误差符合要求。
