论文标题
零偏斜可分离操纵器的设计和验证，用于心脏超声心动图
Design and validation of zero-slack separable manipulator for Intracardiac Echocardiography
论文作者
论文摘要
临床医生需要大量的培训和经验，以使其对转向心动过速（ICE）导管进行舒适，以定位和测量治疗区域，以期在设备导管部署到另一个访问中时要注意并发症。因此，机器人辅助系统持有和积极操纵冰导管可以减轻医生的工作量是合理的。现有的商业上可用的机器人系统和研究原型都基于多种肌腱机制（TSM）使用现有的市售冰导管。为了动力现有的基于TSM的冰导管，执行器与外手柄旋钮的接口操纵四个内部肌腱。但是，实际上，执行器位于一个远离冰柄的无菌，安全的地方。因此，在与旋钮的接触中，两者之间存在多个耦合齿轮结构，从而导致高度非线性的行为（例如各种松弛，弹性）以及TSM中的滞后现象。 由于冰导管是为单一使用而设计的，因此需要将昂贵的执行器放置在安全的地方，以便可重复使用。此外，这些执行器应与肌腱尽可能直接接口，以进行准确的尖端控件。在本文中，我们引入了一个可分离的冰导管机器人，该机器人具有四个肌腱致动的：一个部分可重复使用，另一部分可进行一次性。此外，我们为我们提出的机制提出了一种实用模型和校准方法，以便同时驱动四个肌腱，从而允许精确的尖端控制并减轻常规设备（例如Dead-Zone和HysterSeres）的问题，并具有简单的线性补偿。我们考虑使用开环控制器
Clinicians require substantial training and experience to become comfortable with steering Intracardiac echocardiography (ICE) catheter to localize and measure the area of treatment to watch for complications while device catheters are deployed in another access. Thus, it is reasonable that a robotic-assist system to hold and actively manipulate the ICE catheter could ease the workload of the physician. Existing commercially-available robotic systems and research prototypes all use existing commercially available ICE catheters based on multiple tendon-sheath mechanism (TSM). To motorize the existing TSM-based ICE catheter, the actuators interface with the outer handle knobs to manipulate four internal tendons. However, in practice, the actuators are located at a sterile, safe place far away from the ICE handle. Thus, to interface with knobs, there exist multiple coupled gear structures between two, leading to a highly nonlinear behavior (e.g. various slack, elasticity) alongside hysteresis phenomena in TSM. Since ICE catheters are designed for single use, the expensive actuators need to be located in a safe place so as to be reusable. Moreover, these actuators should interface as directly as possible with the tendons for accurate tip controls. In this paper, we introduce a separable ICE catheter robot with four tendon actuation: one part reusable and another disposable. Moreover, we propose a practical model and calibration method for our proposed mechanism so that four tendons are actuated simultaneously allowing for precise tip control and mitigating issues with conventional devices such as dead-zone and hysteresis with simple linear compensation. We consider an open-loop controller since many available ICE catheters are used without position-tracking sensors at the tip due to costs and single use
