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.
Highlights
According to the global cancer statistics for 2018,1 there are currently an estimated 18.19 million new cancer cases and 9.6 million cancer deaths per year
The medical robots used in Magnetic resonance imaging (MRI) are attracting increasing attention from the international medical community[4,5,6] and from scientific
There is an urgent need for a robot driving method that is suitable for use in the nuclear magnetic environment because such a method would allow robots to assist in operations without affecting the MRI results
Summary
According to the global cancer statistics for 2018,1 there are currently an estimated 18.19 million new cancer cases and 9.6 million cancer deaths per year. The bidirectional coupled transmission of a double tendon-sheath structure that can realize long-distance and large-stroke driving requires continuous multi-turn rotation of the transmission wheels during movement.
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