Design of a seed implantation robot with counterbalance and soft tissue stabilization mechanism for prostate cancer brachytherapy
نویسندگان
چکیده
This article focuses on the topic of structural design surgical radioactive surgery robot for prostate cancer. To improve weight-to-payload ratio end-effector, energy consumption and stability joint drive reducing displacement deformation needle insertion in soft tissue. discusses new static torque balancing method multi-needle tissue stabilization mechanisms that may be used previously articulated seed implantation robots. Compared with existing system schemes, we adopt idea mutual conversion gravitational potential elastic establish a model. With preloaded parameter spring α, variable gravity balance arm can achieved. Torque equivalent distribution quantitative evaluation experiment were performed, results provide evidence these devices basically compensate arm. In addition, nonlinear spring–damper model to multi-needles force Then, device is designed six working modes. The innovative this use first four needles are introduced simultaneously either side midline. Initially completed simulation different numbers tissue, indicate puncture mechanism could reduce y- or z-direction. By method, fixed, thus maybe reduces rotation enabling subsequent inserted accurately.
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2021
ISSN: ['1729-8806', '1729-8814']
DOI: https://doi.org/10.1177/17298814211040687