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Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot
Applied Bionics and Biomechanics ( IF 2.2 ) Pub Date : 2020-12-31 , DOI: 10.1155/2020/8852228
Yongde Zhang 1, 2 , Liyi Sun 1, 2 , Dexian Liang 1, 2 , Haiyan Du 1, 2
Affiliation  

Introduction. Magnetic Resonance Imaging has better resolution for soft tissue; at the same time, the robot can work in a stable manner for a long time. MRI image-guided breast interventional robots have attracted much attention due to their minimally invasive nature and accuracy. In this paper, a hydraulic-driven MRI-compatible breast interventional robot is proposed to perform breast interventional procedure. Methods. First is the analysis of the design requirements of the hydraulic-driven MRI-compatible breast interventional robot, and then the design scheme is determined. Second, the three-dimensional model and the link frames are established. The workspace of the robot end point is solved by MATLAB/Simulink software. Then, the 3D printing technology is used to make a physical model of the MRI-compatible breast interventional robot. After assembly and debugging, the physical model is used for workspace verification, and the simulation result of the workspace shows that it is correct. Finally, the experimental research on the positioning error of the hydraulic drive is carried out, which established the theoretical foundation for the follow-up control research of the robot. Results. The positioning error has nothing to do with the motion distance, speed, and length of the selected tubing. The errors are 0.564 mm, 0.534 mm, and 0.533 mm at different distances of 40 mm, 80 mm, and 120 mm, respectively. The errors are 0.552 mm, 0.564 mm, and 0.559 mm at different speeds of 3 mm/s, 5 mm/s, and 8 mm/s, respectively. The errors are 0.564 mm, 0.568 mm, and 0.548 mm for different lengths of 0.5 m, 1 m, and 1.6 m, respectively. Then, the robot’s working space on the plane and the plane meets the conditions. Conclusion. The structure of a differential rotary breast interventional robot is determined, with the link frames assigned to the mechanism and the Denavit-Hartenberg parameters given. Workspace simulation of MRI-compatible breast interventional robot is done in MATLAB. The 3D printed MRI-compatible breast interventional robot is assembled and debugged to verify that its working space and positioning error meet the requirements.

中文翻译:

一种差动旋转式乳房介入机器人的设计与工作空间分析

简介。磁共振成像对软组织有更好的分辨率;同时,机器人可以长时间稳定工作。MRI图像引导的乳房介入机器人由于其微创性和准确性而备受关注。在本文中,提出了一种液压驱动的 MRI 兼容的乳房介入机器人来执行乳房介入手术。方法. 首先对液压驱动的兼容MRI的乳腺介入机器人的设计要求进行分析,然后确定设计方案。其次,建立三维模型和链接框架。机器人端点的工作空间由 MATLAB/Simulink 软件求解。然后,利用 3D 打印技术制作兼容 MRI 的乳房介入机器人的物理模型。组装调试后,用物理模型进行工作区验证,工作区仿真结果表明是正确的。最后对液压驱动定位误差进行了实验研究,为机器人后续控制研究奠定了理论基础。结果. 定位误差与所选油管的运动距离、速度和长度无关。在 40 mm、80 mm 和 120 mm 的不同距离处,误差分别为 0.564 mm、0.534 mm 和 0.533 mm。在 3 mm/s、5 mm/s 和 8 mm/s 的不同速度下,误差分别为 0.552 mm、0.564 mm 和 0.559 mm。对于 0.5 m、1 m 和 1.6 m 的不同长度,误差分别为 0.564 mm、0.568 mm 和 0.548 mm。然后,机器人在平面上的工作空间和平面满足条件。结论. 确定了差动旋转乳房介入机器人的结构,并为该机构分配了链接框架,并给出了 Denavit-Hartenberg 参数。兼容 MRI 的乳腺介入机器人的工作空间仿真在 MATLAB 中完成。3D打印兼容MRI的乳腺介入机器人进行组装调试,验证其工作空间和定位误差是否符合要求。
更新日期:2020-12-31
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