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Design and analysis of a novel long-distance double tendon-sheath transmission device for breast intervention robots under MRI field
- Source :
- Advances in Mechanical Engineering, Vol 12 (2020)
- Publication Year :
- 2020
- Publisher :
- SAGE Publications, 2020.
-
Abstract
- Cancer represents a major threat to human health. Magnetic resonance imaging (MRI) provides superior performance to other imaging-based examination methods in the detection of tumors and offers distinct advantages in biopsy and seed implantation. However, because of the MRI environment, the material requirements for actuating devices for the medical robots used in MRI are incredibly demanding. This paper describes a novel double tendon-sheath transmission device for use in MRI applications. LeBus grooves are used in the original transmission wheels, thus enabling the system to realize long-distance and large-stroke transmission with improved accuracy. The friction model of the transmission system and the transmission characteristics model of the novel tendon-sheath structure are then established. To address the problem that tension sensors cannot be installed in large-stroke transmission systems, a three-point force measurement method is used to measure and set an appropriate preload in the novel tendon-sheath transmission system. Additionally, experiments are conducted to verify the accuracy of the theoretical model and multiple groups of tests are performed to explore the transmission characteristics. Finally, the novel tendon-sheath transmission system is compensated to improve its accuracy and the experimental results acquired after compensation show that the system satisfies the design requirements.
- Subjects :
- 0209 industrial biotechnology
medicine.medical_specialty
medicine.diagnostic_test
business.industry
lcsh:Mechanical engineering and machinery
Mechanical Engineering
0206 medical engineering
Cancer
Magnetic resonance imaging
02 engineering and technology
medicine.disease
020601 biomedical engineering
Human health
Tendon sheath
020901 industrial engineering & automation
Transmission (telecommunications)
Medicine
Robot
lcsh:TJ1-1570
Radiology
business
Subjects
Details
- ISSN :
- 16878140
- Volume :
- 12
- Database :
- OpenAIRE
- Journal :
- Advances in Mechanical Engineering
- Accession number :
- edsair.doi.dedup.....5c70da95cdc8005e30d42723b83aa820