摘要
血管介入机器人作为近年来的研究热点,它采用主从控制模式,包括主端操纵器、从端执行器和控制系统。从端执行器的夹持装置替代人手直接夹紧和递送导丝,其夹持效果直接影响机器人的性能和手术的安全性。为此,设计了一款2自由度模拟人手搓捻的血管介入导丝夹持装置,试验研究表明:该夹持装置在接触力小于3 N时未发生打滑现象,具有可靠的夹持效果,且易于拆卸,便于更换导丝,可满足正常手术使用需求。此外,仿真分析表明,夹持打滑现象可用导丝的形变量定量表征,且导丝的形变量与接触力F成正比,而与夹持力F_(n)、摩擦因数μ则成反比,根据这一规律选择适宜参数可保证夹持装置的可靠稳定运行。
As a research hotspot in recent years,vascular interventional robots adopt the master-slave control mode,including master manipulator,slave actuator and control system.The clamping device of the slave actuator replaces manually direct clamping and guidewire delivery,whose clamping effect directly affects the robot’s performance and the safety of the operation.Therefore,in this article a 2-degree-of-freedom vascular intervention guidewire clamping device is designed to simulate the twisting of human hands.The experimental research shows that the clamping device does not slip when the contact force is less than 3 N,with a reliable clamping effect.In addition,the device is easy to disassemble and replace the guidewire,which meet the needs of normal operation.Besides,the simulation analysis shows that the clamping slip can be quantitatively characterized by the guidewire deformation,which is proportional to the contact force F_(n)and inversely proportional to the clamping force Fn and the friction coefficientμ.Appropriate parameters should be selected on this basis,which ensures that the clamping device operates reliably and steadily.
作者
李杰
廖洋
郑雄
LI Jie;LIAO Yang;ZHENG Xiong(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168)
出处
《机械设计》
北大核心
2025年第10期119-124,共6页
Journal of Machine Design
基金
国家自然科学基金青年基金(62003226)。
关键词
血管介入导丝
搓捻
夹持装置
便捷式拆卸
防滑移
vascular intervention guidewire
twist
clamping device
portable disassembly
anti-slipping
