ROBOTIC SYSTEM WITH MULTIPLEX POWER TRANSMISSION FOR MRI-GUIDED PROSTATE PERCUTANEOUS INTERVENTIONS

Robotics;MRI-compatible;Multiple transmission;Robotics

Wang, YangIordachita, Iulian I. ;

Johns Hopkins University

关键词: Robotics;    MRI-compatible;    Multiple transmission;    Robotics;   

Others  :  https://jscholarship.library.jhu.edu/bitstream/handle/1774.2/39490/WANG-THESIS-2016.pdf?sequence=1&isAllowed=y

瑞士|英语

来源: JOHNS HOPKINS DSpace Repository

【 摘 要 】

Surgical robots tend to have multiple degrees-of-freedom (DOFs) due to the complexity in the nature of their surgical procedures and the desire to have a fully automated system to solve ergonomic problems. To control such system, many actuators are needed, which increases the weight, volume, and cost of the whole system. This study presents the development of a generalized multiplexed power transmission designed for this type of application while reducing the number of actuators used for driving purpose. The application driven by this new transmission presented in this study is a 4-DOF MRI-compatible surgical needle manipulator for percutaneous prostate intervention. The workspace and kinematics of the robot is revisited to reveal the changes by adopting the transmission. Some experiments are carried out to evaluate the position accuracy of the robot and the motion time is recorded during the experiment for further evaluation.