微细线控变路径穿刺针设计与验证

Structural Design and Experiment of Micro-Wire Control Variable Path Puncture Needle

目的提出一种协作机器人基体+线控微细变路径机器人末端执行系统耦合的精准微细微创机器人系统,设计了包含外针的刚性体、内针的非均匀柔性体、力控线、像纤内部成像等部件的穿刺进针结构,验证此系统的可行性。方法通过搭建穿刺机器人穿刺进针结构实物,对影响变路径精准穿刺针关键部件进行结构优化设计分析,基于正交实验设计方法设计主要影响穿刺针精准性的孔中心距边缘起始距离、开孔直径、两孔之间距离3因素3水平实验,并结合实物进行实验验证与仿真。结果记忆合金变路径穿刺针尖端位移量与孔中心距边缘的起始距离关系较大,影响的主次因素为孔中心距边缘起始距离>孔开口>孔距。当孔中心距边缘起始距离为1 mm、开孔直径为0.2 mm、两孔之间距离为2.6 mm时,穿刺针尖端位移量取最大值。结论实验验证了设计系统的功能适用性和变路径穿刺的线弹性滞后特性,为进一步活体实验和系统优化提供借鉴。

Objective A precise microinvasive robot system coupled with a cooperative robot matrix and an end effector of a wire-controlled microvariable path robot was proposed.A puncture needle structure,including the rigid body of the outer needle,non-uniform flexible body of the inner needle,force control wire,internal imaging of the image fiber,and other components,was designed to verify the feasibility of this system.Methods By constructing the puncture structure of the puncture robot,the structural optimization design of the key components affecting the variable-path precision puncture needle was analyzed by constructing the puncture structure of a puncture robot.Based on the orthogonal experimental design method,a three-factor and three-level experiment that primarily affected the accuracy of the puncture needle was designed,namely,the starting distance of the hole center from the edge,the diameter of the hole,and the distance between the two holes.The experiment was verified and simulated using a real object.Results The displacement of the titanium-nickel needle tip had a significant relationship with the starting distance of the hole center from the edge,and the main and secondary influencing factors were as follows:starting distance of the hole center from the edge>hole diameter>hole distance.When the starting distance of the hole center from the edge was 1 mm,the diameter of the hole was 0.2 mm,and the distance between the two holes was 2.6 mm,the displacement of the titanium-nickel needle tip was the maximum value.Conclusions The experiment verified the functional applicability of the designed system and the linear elastic hysteresis characteristics of variable path puncture,providing a reference for further in vivo experiments and system optimization.