Design of surgical manipulator for peritoneal surgery in nuclear magnetic environment
10.7687/j.issn1003-8868.2018.02.018
- VernacularTitle:核磁环境下的腹腔穿刺手术机械臂设计
- Author:
Ke CHEN
1
;
Jian-Xin SHEN
;
Wei TIAN
;
Yu-Wen FU
Author Information
1. 南京航空航天大学机电学院
- Keywords:
mechanical arm;
nuclear magnetic environment;
abdominal paracentesis;
kinematics analysis
- From:
Chinese Medical Equipment Journal
2018;39(2):18-23,64
- CountryChina
- Language:Chinese
-
Abstract:
Objective To merge the traditional magnetic imaging technology with emerging robotics and to create a new surgical model that replaces human eyes with robotic arms instead of manpower.Methods Structural compatibility analysis was executed with Monte Carlo method. According to the theory of magnetic field compatibility, the mechanical arm components were classified, the magnetic field compatibility of the manipulator was discussed, the key components of the manipulator were selected,and the finite element analysis was performed to verify its reliability.The positive and negative kinematics models of robotic arms were constructed by matrix transformation and robotics toolbox. The polynomial interpolation of five times was used to plan the trajectory of the end of the manipulator.Results The work space of the robot arm solved by Monte Carlo method was found to envelop completely the inner ring aperture of the NMR,and thus the spatial accessibility of the robot arm was verified.Finite element analysis proved that the structural strength of the manipulator was well-designed and the kinematics model of the manipulator was successfully constructed.The trajectory planning found that the joints rotated uniformly and the desired requirements were met.Conclusion The robot arm developed gains advantages in configuration and nuclear magnetic compatibility.
