光学精密工程2024，Vol.32Issue(19)：2861-2876,16.DOI:10.37188/OPE.20243219.2861
入路姿态光纤导航的经鼻柔性手术机器人
Fiber-optic navigation of approach attitude for transnasal flexible surgical robot
摘要
Abstract
To address the challenges of limited dexterity in traditional transnasal surgery and inadequate in-traoperative guidance,a flexible transnasal surgical robot with fiber-optic navigation is developed.The de-sign features a flexible manipulator with spherical hinges and pin-slot configuration for enhanced dexterity and resistance to torsional disturbances.The robot's forward and inverse kinematics are modeled using geo-metric analysis and the D-H parameter method.Embedded with two fiber-optic sensors at 90° intervals in each manipulator,a data-driven posture calibration using binocular vision and extreme learning avoids er-rors from traditional offline calibration and mitigates error accumulation in differential geometry posture es-timation.This enhances high-precision perception of the robot's shape and position.Experiments demon-strate the manipulator's bending angle can reach 105°,with a load capacity of 0.9 N at 80°.Using fiber-op-tic navigation,maximum position prediction errors are 0.920 mm in free environments and 1.635 mm with obstacles,confirming the robot's effectiveness and feasibility.关键词
光纤导航/柔性手术机器人/极限学习机/位置跟踪Key words
fiber-optic navigation/flexible surgical robot/extreme learning machine/position tracking分类
电子信息工程引用本文复制引用
李天梁,朱永文,李佳隽,王峻,孟伟,谭跃刚..入路姿态光纤导航的经鼻柔性手术机器人[J].光学精密工程,2024,32(19):2861-2876,16.基金项目
湖北省重点研发计划资助项目(No.2022BAA066) （No.2022BAA066）
国家自然科学基金资助项目(No.52275541) （No.52275541）
东南大学数字医学工程全国重点实验室开放课题基金资助项目 （）
