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Parallel Cable-Driven Prostate Puncture Robot: Design and Performance Evaluation

delete2025-09-07
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PRE
AI
Y
Yupeng Zou *
T
Tianyu Lan
Z
Zhang, Yanxing
X
Xiaojing Lai
Z
Zhou, Zhishen
C
Changsheng Li
DOI：10.1002/rcs.70102delete
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摘要

摘要

En 中文
背景 MRI内部的有限工作空间和强磁场对前列腺穿刺机器人的设计提出了挑战。简化机器人结构至关重要。 方法 本文提出了一种并联索驱动（PCD）前列腺穿刺机器人，并进行了初步的材料设计。建立了机器人的运动学、静力学和刚度模型。同时验证了力螺旋可行工作空间。采用多体仿真分析机器人的性能。 结果 在平面和空间构型下进行了运动精度实验，随后对刚度性能进行评估。在仿体穿刺实验中，穿刺点的水平位置误差分别为0.35 mm和0.4 mm。 结论 非平行索驱动设计不仅简化了前列腺穿刺手术中机器人的结构，还确保了与强磁场的兼容性。此外，该机器人表现出高运动精度和优异的刚度性能。
Keyword:
parallel cable-driven
puncture surgical robot
simulation and experiment validation
wrench-feasible workspace analysis

期刊

I
International Journal of Medical Robotics and Computer Assisted Surgery
IF:
2.1
论文数:
79
被引数:
3.3K

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