一种用于微创神经外科手术的伸缩式肌腱驱动针机器人。
A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery.
作者信息
Rezaeian Saeed, Badie Behnam, Sheng Jun
机构信息
Department of Mechanical Engineering, University of California Riverside, Riverside, CA 92521, USA.
Division of Neurosurgery, City of Hope National Medical Center, CA 91010, USA.
出版信息
Rep U S. 2023 Oct;2023:10301-10307. doi: 10.1109/iros55552.2023.10341660. Epub 2023 Dec 13.
This paper presents the design, characterization, and testing of a steerable needle robot for minimally invasive neurosurgery. The robot consists of a rigid outer tube and two telescopic tendon-driven steerable tubes. Through the rotation, translation, and bending of individual tubes, this telescopic tendon-driven needle robot can perform dexterous motion and follow the path of the tip. We presented the design of the needle robot and its actuation system, modeling of the robotic kinematics, characterization of the robot motion, results of the open-loop kinematic control, and demonstration of the follow-the-leader motion. The position error of the robot tip is 0.92 mm, and follow-the-leader motion error is 1.1 mm. Due to its small footprint and unique motion ability, the robot has the potential to be manipulated inside human brain and used for minimally invasive neurosurgery.
本文介绍了一种用于微创神经外科手术的可转向针状机器人的设计、特性及测试。该机器人由一个刚性外管和两个可伸缩的腱驱动转向管组成。通过各个管子的旋转、平移和弯曲，这种腱驱动的可伸缩针状机器人能够进行灵活运动并跟踪针尖路径。我们展示了针状机器人及其驱动系统的设计、机器人运动学建模、机器人运动特性、开环运动控制结果以及跟随运动演示。机器人尖端的位置误差为0.92毫米，跟随运动误差为1.1毫米。由于其占用空间小且具有独特的运动能力，该机器人有潜力在人脑内部进行操作并用于微创神经外科手术。
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