Chitalia Yash, Sarma Achraj, Brumfiel Timothy A, Deaton Nancy J, Sheft Maxina, Desai Jaydev P
Healthcare Robotics and Telesurgery (HeaRT) Laboratory, Department of Mechanical Engineering, University of Louisville, KY, USA. He contributed to the work presented in this paper when he was a graduate student in the RoboMed Laboratory at the Georgia Institute of Technology, GA, USA.
contributed to the work presented in this paper when he was a graduate student in the RoboMed Laboratory at the Georgia Institute of Technology, GA, USA.
IEEE Robot Autom Lett. 2023 Sep;8(9):5345-5352. doi: 10.1109/lra.2023.3286125. Epub 2023 Jun 14.
Minimally invasive endovascular procedures involve the manual placement of a guidewire, which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable guidewire systems have been developed with tendon-driven, magnetic, and concentric tube actuation strategies to enable precise tip control, however, selecting machining parameters for such robots does not have a strict procedure. In this paper, we develop a systematic design procedure for selecting the tube pairs of the COaxially Aligned STeerable (COAST) guidewire robot. This includes the introduction of a mechanical model that accounts for micromachining-induced pre-curvatures with the goal of determining design parameters that reduce combined distal tip pre-curvature and minimize abrupt changes in actuated tip position for the COAST guidewire robot through selection of the best flexural rigidity between the tube pairs. We present adjustments in the kinematics modeling of COAST robot tip bending motion, and use these to characterize the bending behavior of the COAST robot for varying geometries of the micromachined tubes, with an average RMSE value for the tip position error of 0.816 mm in the validation study.
微创血管内手术涉及手动放置导丝，而血管迂曲和缺乏精确的尖端控制使这一操作变得困难。已经开发出了具有肌腱驱动、磁性和同心管驱动策略的可转向导丝系统，以实现精确的尖端控制，然而，为这类机器人选择加工参数并没有严格的程序。在本文中，我们开发了一种系统的设计程序，用于选择同轴对齐可转向（COAST）导丝机器人的管对。这包括引入一个机械模型，该模型考虑了微加工引起的预曲率，目的是通过选择管对之间最佳的弯曲刚度，确定能够减少COAST导丝机器人远端尖端组合预曲率并使驱动尖端位置的突然变化最小化的设计参数。我们对COAST机器人尖端弯曲运动的运动学建模进行了调整，并利用这些调整来表征COAST机器人在微加工管不同几何形状下的弯曲行为，在验证研究中，尖端位置误差的平均均方根误差值为0.816毫米。
