陈世明,严伟玮,韩世鹏,张一.微创介入机器人系统设计与精度分析[J].测控技术,2019,38(1):49-53
微创介入机器人系统设计与精度分析
Minimally Invasive Interventional Robot:Design and Accuracy Analysis
  
DOI:10.19708/j.ckjs.2019.01.010
中文关键词:  介入手术机器人  推进机构  精度实验  误差分析
英文关键词:minimally invasive interventional robot  propelling mechanism  accuracy test  error analysis
基金项目:国家自然科学基金(11662002);江西省创新驱动“5511”优势科技创新团队(20165BCB19011)
作者单位
陈世明 华东交通大学 电气与自动化工程学院 
严伟玮 华东交通大学 电气与自动化工程学院 
韩世鹏 中国科学院深圳先进技术研究院 
张一 中国科学院深圳先进技术研究院 
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中文摘要:
      针对微创介入手术对医生的身体危害性及难操作性等问题,设计了一种辅助医生手术操作的新型介入手术机器人系统,并详细阐述了模仿医生实际夹持与旋捻导管动作的仿生手指的设计理念以及基于神经网络的PID控制系统的设计过程。利用所研制出的血管介入机器人样机,开展了推进机构的精度实验,实验测试的各项精度结果证明所开发的推进机构满足精度的设计要求。通过对机构精度和误差来源的分析,给出提高精度的3条可行措施。本介入手术机器人满足设计要求,为同类产品的设计和改进提供了参考依据。
英文摘要:
      In order to solve the problems that the minimally invasive surgery is harmful to doctor's health and difficult to operate,a new interventional robotic system for assisting doctors operation is proposed.The design concept of the bionic finger that imitates the actual process of clamping and twisting the catheter of the doctor and the design process of the PID control system based on neural network are described in detail.Then a series of accuracy tests based on the prototype have been carried out.The accuracy test results substantiate that the propulsive mechanism satisfies the required design requirements of precision.Finally,the mechanism's accuracy and its error source and how they can be improved are analyzed,three feasible measures to improve the robots precision are provided.This minimally invasive interventional robot meets the design requirements,and provides a reference for the design and improvement of the vascular robot system.
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