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首页> 外文会议>IEEE International Conference on Autonomous Robot Systems and Competitions >A teleoperated snake-like robot for minimally invasive radiosurgery of gastrointestinal tumors
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A teleoperated snake-like robot for minimally invasive radiosurgery of gastrointestinal tumors

机译：用于胃肠道肿瘤微创放射外科的遥控蛇形机器人

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Despite the wide acceptability of brachytherapy, precise placement of short-range radiation sources on gastrointestinal tumor is still a problem. Recently, a good number of studies have proposed different flexible robotic models for minimally invasive surgical and radiotherapeutic procedures for such in-body abnormal tissue growth. However, existing robotic designs are hindered by spatial inflexibilities of arm robots controlling the source delivery and inexistence of ideal control models for redundant robots. This study presents a snake-like robot for minimally invasive radiosurgery of gastrointestinal tumors. Efficient kinematic and dynamic models are presented for effective control and teleoperation of the robot. Similarly, a direct model is formulated for mapping workspaces of the master and slave devices, based on their kinematics. Simulations and in-vitro trial were carried out to validate operation of the robot. Analysis of the results obtained show that the snake robot can be fitted for real clinical settings.
机译：尽管近距离放射治疗的广泛接受性，但短程放射源在胃肠道肿瘤上的精确定位仍然是一个问题。近来，大量研究提出了用于这种体内异常组织生长的微创外科手术和放射治疗程序的不同柔性机器人模型。但是，现有的机器人设计受到手臂机器人控制源传递的空间不灵活性以及冗余机器人理想控制模型不存在的阻碍。这项研究提出了一种蛇形机器人，用于胃肠道肿瘤的微创放射外科。提出了有效的运动学和动力学模型，以有效控制和遥控机器人。类似地，基于主设备和从设备的运动学，制定了直接模型来映射主设备和从设备的工作空间。进行了仿真和体外试验，以验证机器人的操作。对获得的结果的分析表明，该蛇形机器人可以适合实际的临床环境。

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