血管介入手术机器人推进机构的精度试验研究

Experimental Study on Accuracy of the Surgical Robot Propulsive Mechanism in Vascular Intervention

精度是血管介入手术机器人系统的重要指标之一,受到图像导航精度,介入机器人系统精度和随机误差的综合影响。基于实验室开发的血管介入手术机器人推进机构,开展了一系列精度试验,并对试验结果进行分析,结果证明所开发的血管介入手术机器人推进机构满足精度设计要求,而后对机构的精度和误差来源进行了分析,得出了提高精度的若干措施,为此类机构的设计和改进提供了依据。

Accuracy is an important index of vascular interventional surgical robot system,and is influenced by random errors and the accuracies of image navigation and interventional robot.Based on the vascular interventional surgical robot propulsive mechanism,a series of accuracy experiments are carried out,and the results are analyzed,which validate that the propulsive mechanism satisfies the required design accuracy,and then the accuracy and error sources of propulsive mechanism are analyzed.Some measures to enhance the propulsive mechanism accuracy are proposed for the mechanism design and improvement.