Dragone Donatella, Donadio Francesca Federica, Mirabelli Chiara, Cosentino Carlo, Amato Francesco, Zaffino Paolo, Spadea Maria Francesca, La Torre Domenico, Merola Alessio
Dipartimento di Ingegneria Elettrica e delle Tecnologie dell'Informazione, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy.
Biomechatronics Laboratory, Department of Experimental and Clinical Medicine, Università degli Studi Magna Græcia di Catanzaro, Campus Universitario "S. Venuta", 88100 Catanzaro, Italy.
Micromachines (Basel). 2023 Sep 6;14(9):1743. doi: 10.3390/mi14091743.
A minimally-invasive manipulator characterized by hyper-redundant kinematics and embedded sensing modules is presented in this work. The bending angles (tilt and pan) of the robot tip are controlled through tendon-driven actuation; the transmission of the actuation forces to the tip is based on a Bowden-cable solution integrating some channels for optical fibers. The viability of the real-time measurement of the feedback control variables, through optoelectronic acquisition, is evaluated for automated bending of the flexible endoscope and trajectory tracking of the tip angles. Indeed, unlike conventional catheters and cannulae adopted in neurosurgery, the proposed robot can extend the actuation and control of snake-like kinematic chains with embedded sensing solutions, enabling real-time measurement, robust and accurate control of curvature, and tip bending of continuum robots for the manipulation of cannulae and microsurgical instruments in neurosurgical procedures. A prototype of the manipulator with a length of 43 mm and a diameter of 5.5 mm has been realized via 3D printing. Moreover, a multiple regression model has been estimated through a novel experimental setup to predict the tip angles from measured outputs of the optoelectronic modules. The sensing and control performance has also been evaluated during tasks involving tip rotations.
本文介绍了一种具有超冗余运动学和嵌入式传感模块的微创操纵器。机器人末端的弯曲角度（倾斜和旋转）通过腱驱动来控制；驱动力向末端的传递基于一种集成了一些光纤通道的鲍登电缆解决方案。通过光电采集对反馈控制变量进行实时测量的可行性，针对柔性内窥镜的自动弯曲和末端角度的轨迹跟踪进行了评估。实际上，与神经外科手术中采用的传统导管和套管不同，所提出的机器人可以通过嵌入式传感解决方案扩展对蛇形运动链的驱动和控制，实现连续体机器人曲率的实时测量、稳健且精确的控制以及末端弯曲，以用于神经外科手术中套管和显微手术器械的操作。通过3D打印制作出了长度为43毫米、直径为5.5毫米的操纵器原型。此外，通过一种新颖的实验装置估计了多元回归模型，以根据光电模块的测量输出预测末端角度。在涉及末端旋转的任务中也对传感和控制性能进行了评估。
