DeBuys Christian, Ghesu Florin C, Jayender Jagadeesan, Langari Reza, Kim Young-Ho
Texas A&M University, Mechanical Engineering, College Station, TX, USA.
Siemens Healthineersm, Digital Technology & Innovation, Princeton, NJ, USA.
J Mech Robot. 2023 Dec;15(6). doi: 10.1115/1.4062354. Epub 2023 May 2.
This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved outcomes via minimally invasive procedures, but TDRMs come with unique challenges such as sterilization and reuse, simultaneous control of tendons, hysteresis in the tendon-sheath mechanism, and unmodeled effects of the proximal section shape. A separable TDRM which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. An open-loop redundant controller which resolves the redundancy in the kinematics is developed. Simple linear hysteresis compensation and re-tension compensation based on the physical properties of the device are proposed. The controller and compensation methods are evaluated on a testbed for a straight proximal section, a curved proximal section at various static angles, and a proximal section which dynamically changes angles; and overall, distal tip error was reduced.
这项工作解决了在医疗应用中使用具有长的、灵活的、被动近端部分的腱驱动机器人操纵器（TDRM）时出现的实际问题。腱驱动装置在医学中因其通过微创手术改善治疗效果而受到青睐，但TDRM存在诸如消毒和再利用、腱的同步控制、腱-鞘机构中的滞后以及近端部分形状的未建模影响等独特挑战。介绍了一种可分离的TDRM，它克服了驱动和消毒方面的困难，其中包含电子设备的主体是可重复使用的，其余部分是一次性的。开发了一种解决运动学冗余问题的开环冗余控制器。提出了基于设备物理特性的简单线性滞后补偿和重新张紧补偿方法。在一个试验台上对直近端部分、处于各种静态角度的弯曲近端部分以及动态改变角度的近端部分进行了控制器和补偿方法的评估；总体而言，远端尖端误差有所降低。
