一种基于双螺纹斜齿轮管的新型同心圆管机器人

doi:10.1007/s12204-023-2595-x

J Shanghai Jiaotong Univ Sci ›› 2023, Vol. 28 ›› Issue (3): 296-306.doi: 10.1007/s12204-023-2595-x

一种基于双螺纹斜齿轮管的新型同心圆管机器人

陈韦池¹，刘浩城¹，李子建¹，郭靖^{1, 2}，翟振坤³，孟伟^{1, 2}

（1. 广东工业大学自动化学院，广州510006；2. 广东工业大学智慧医疗创新技术中心，广州510006；3. 广东交通职业技术学院机电工程学院，广州510006)

收稿日期:2022-08-31 修回日期:2023-02-11 接受日期:2023-05-28 出版日期:2023-05-28 发布日期:2023-05-22

Novel Concentric Tube Robot Based on Double-Threaded Helical Gear Tube

CHEN Weichi¹(陈韦池)，LIU Haocheng¹(刘浩城)，LI Zijian¹(李子建),GUO Jing^1,2*(郭靖)，ZHAI Zhenkun³(翟振坤)，MENG Wei^1,2(孟伟)

(1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China; 2. Smart Medical Innovation Technology Center, Guangdong University of Technology, Guangzhou 510006, China; 3. School of Mechanical and Electrical Engineering, Guangdong Communication Polytechnic, Guangzhou 510650, China)

Received:2022-08-31 Revised:2023-02-11 Accepted:2023-05-28 Online:2023-05-28 Published:2023-05-22

摘要/Abstract

摘要： 鼻咽癌是一种源于鼻黏膜的恶性肿瘤，常发生在头颈部。同心管机器人可形成复杂的形状，并可到达难以触及的病灶，因此常用于微创手术。然而一些同心管机器人由于其传动设计显得笨重，本文提出了一种基于双螺纹斜齿轮管的轻型螺旋齿轮传动装置。其驱动单元的紧凑和小型化，使得这种同心管机器人比传统同心管机器人更轻巧。通过运动学分析，得到了齿轮管姿态与电机输出角的映射关系。本文对驱动机构的精度、稳定性和重复性进行了测试。实验结果表明：该系统在平移试验中的定位误差小于0.3 mm；稳定性试验中滚动角度误差小于0.6°；平移重复性试验误差小于0.005 mm。最后使用同心管机器人进行了尖端瞄准试验，验证了同心管机器人用于手术的可行性。

关键词: 同心管机器人, 双螺纹斜齿轮, 模块化设计

Abstract: Nasopharyngeal carcinoma is a malignant tumor originating from the nasal mucosa. It is a malignant tumor of the head and neck. Concentric tube robot (CTR), as it can form a complicated shape and access hardto-reach lesions, is often used in minimally invasive surgeries. However, some CTRs are bulky because of their transmission design. In this paper, a light CTR based on double-threaded helical gear tube is proposed. Such a CTR is less cumbersome than the traditional CTR as its actuation unit is compact and miniaturized. The mapping relationship between the gear tube attitude and motor output angle is obtained by kinematic analysis. The precision, stability, and repeatability of the driving mechanism are tested. The experimental results show that the positioning error in the translation test is less than 0.3 mm, the rolling angle error in the stability test is less than 0.6?, and the error in the translation repeatability test is less than 0.005 mm. Finally, a tip-targeting test is performed using the new CTR, which verifies the feasibility of the CTR for surgeries.

中图分类号:

TP 242

陈韦池, 刘浩城, 李子建, 郭靖, 翟振坤, 孟伟, . 一种基于双螺纹斜齿轮管的新型同心圆管机器人[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 296-306.

CHEN Weichi(陈韦池), LIU Haocheng(刘浩城), LI Zijian(李子建), GUO Jing, (郭靖), ZHAI Zhenkun(翟振坤), MENG Wei(孟伟). Novel Concentric Tube Robot Based on Double-Threaded Helical Gear Tube[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 296-306.

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一种基于双螺纹斜齿轮管的新型同心圆管机器人

Novel Concentric Tube Robot Based on Double-Threaded Helical Gear Tube

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