一种带有附加微力传感器的经尿道膀胱内壁微型机器人

Samson Adejokun, Shashank Kumat, Panos Shiakolas
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引用次数: 1

摘要

摘要:我们介绍了一种用于经尿道膀胱内壁组织任何目标区域触诊的系统的概念设计和有限功能原型和特性,该系统由机器人机械手和附着在其尖端的微力传感器组成,其直径小于3.5 mm。提出了一种超冗余十关节六自由度机械臂(五自由度刚性段和五关节连续段),并基于防止位形奇异的雅可比矩阵进行了正运动学和逆运动学分析。模拟运动研究表明,所提出的机械臂能够在膀胱的任何区域(包括难以到达的三角区)达到所需的姿势(与组织正常)。利用有限元分析(安全系数)设计了一种基于应变片的微力传感器。3),使用增材制造进行原型制作,并进行表征。该传感器被用于获得体内测量,以评估人体手掌组织的粘弹性特性。使用增材制造技术对连续体段的单个模块进行了设计和原型制作,并用于表征其拉伸弯曲角行为。有限元分析用于改善椎体结构薄弱区域。一个三关节四椎体原型成功地使用肌腱达到弯曲状态。开发的机器人和传感器原型展示了所提出概念的能力,这可能是定量评估膀胱组织局部生物力学特性的可能解决方案,以改善治疗并提供更好的患者护理。
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A Microrobot With an Attached Microforce Sensor for Transurethral Access to the Bladder Interior Wall
Abstract We present the conceptual design and limited functionality prototype and characterization of a system for application in transurethral palpation of any targeted area of the bladder interior wall tissue consisting of a robotic manipulator and a microforce sensor attached at its tip all less than 3.5 mm in diameter. A hyper-redundant ten-joint six degrees-of-freedom (6DOF) manipulator (5DOF rigid and five-joint continuum segments) is presented along with the forward and inverse kinematics analyses based on a Jacobian formulation to prevent configuration singularities. Simulated motion studies demonstrate the ability of the proposed manipulator to attain a desired pose (normal to the tissue) with any area in the bladder including the difficult to reach trigone area. A strain gauge-based microforce sensor is designed using finite element analysis (safety factor > 3), prototyped using additive manufacturing, and characterized. The characterized sensor was used to acquire in vivo measurements to evaluate human palm tissue viscoelastic properties. A single module of the continuum segment is designed and prototyped using additive manufacturing, and used to characterize its tension-bend angle behavior. Finite element analysis is used to improve structurally weak regions of the vertebra. A three-joint four-vertebrae prototype was successfully actuated to reach a bend state using tendons. The developed robot and sensor prototypes demonstrate capabilities of the proposed concept which could be a possible solution to quantitatively evaluate localized biomechanical properties of the bladder tissue to improve treatment and provide better patient care.
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