The international journal of medical robotics + computer assisted surgery : MRCAS · 2025
Optimising the Accuracy of Concentric Tube Robots: Using Vibration Friction Reduction.
СтатьяНазвание и аннотация: Перевод в очереди
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Wang Yao, Du Fuxin, Zhang Gang, Zhang Peng, Liu Tianxiang, Li Yibin, Song Rui
Аннотация
BACKGROUND: The concentric tube robots (CTRs) show great potential for minimally invasive surgery due to their size and flexibility. However, friction remains a key factor contributing to accuracy errors in CTR applications, and reducing friction effects to enhance CTRs' precision remains a critical challenge.
METHODS: This paper pioneers the application of a vibration friction reduction (VFR) method for CTRs, aiming to reduce inter-tube friction and improve system accuracy. First, a CTR system with VFR was designed, incorporating a vibration generator consisting of four vibration motors and a 3D-printed component. Then, to better test and analyse the effects of vibration on friction, a variable-friction coefficient kinematic model for CTRs was established. Finally, experiments were conducted to validate the approach.
RESULTS: The results show that the VFR method can reduce the positional error of CTRs by approximately 36.5%.
CONCLUSION: This paper provides a new approach to enhance CTRs' accuracy in surgical applications.
METHODS: This paper pioneers the application of a vibration friction reduction (VFR) method for CTRs, aiming to reduce inter-tube friction and improve system accuracy. First, a CTR system with VFR was designed, incorporating a vibration generator consisting of four vibration motors and a 3D-printed component. Then, to better test and analyse the effects of vibration on friction, a variable-friction coefficient kinematic model for CTRs was established. Finally, experiments were conducted to validate the approach.
RESULTS: The results show that the VFR method can reduce the positional error of CTRs by approximately 36.5%.
CONCLUSION: This paper provides a new approach to enhance CTRs' accuracy in surgical applications.