Name: design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound
Uploaded: 2019-01-07T14:00:00
Description: Watch this Scientific Journal Video about Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound at JoVE.com

这项工作得到了 wellcome 信托 ieh 奖 [102431] 和 wellcomeme/epsrc 医疗工程中心 [wt2018八/z/z\ z/z\ z/z] 的支持。作者感谢卫生部通过国家卫生研究所 (nihr) 向盖伊的 & 圣托马斯国家医疗服务体系基金会信托基金颁发的综合生物医学研究中心奖, 并与 king伦敦学院和国王学院医院 nhs 基金会信托基金。

1. 每个链路、端向执行器和附加组件的准备
<ol><li>使用3d 打印, 使用丙烯腈丁苯 (abs) 塑料、聚乳酸(pla) 塑料或尼龙,打印所有链接 (l 0、l 1、l 2、l 3 和 l 4) 和末端执行器, 如图 1所示服务。使用。打印时补充材料中提供的 stl 文件。 注: 可以根据提供的文件更改每个部件的形状和比例。端部效应器的内部轮廓可以改变, ?...

<ol>
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P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Image-guided+control+of+a+robot+for+medical+ultrasound.">Image-guided control of a robot for medical ultrasound.</a> IEEE Transactions on Robotics and Automation. 18 (1), 11-23 (2002).</li><li>Abolmaesumi, P., Salcudean, S., Zhu, W. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Visual+servoing+for+robot-assisted+diagnostic+ultrasound.">Visual servoing for robot-assisted diagnostic ultrasound.</a> Engineering in Medicine and Biology Society, Proceedings of the 22nd Annual International Conference of the IEEE. , (2000).</li><li>Menikou, G., Yiallouras, C., Yiannakou, M., Damianou, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=MRI&#8208;guided+focused+ultrasound+robotic+system+for+the+treatment+of+bone+cancer.">MRI&#8208;guided focused ultrasound robotic system for the treatment of bone cancer.</a> The International Journal of Medical Robotics and Computer Assisted Surgery. 13 (1), e1753 (2017).</li><li>Yiallouras, C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Three-axis+MR-conditional+robot+for+high-intensity+focused+ultrasound+for+treating+prostate+diseases+transrectally.">Three-axis MR-conditional robot for high-intensity focused ultrasound for treating prostate diseases transrectally.</a> Journal of Therapeutic Ultrasound. 3 (1), 2 (2015).</li><li>Essomba, T., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+specific+performances+comparative+study+of+two+spherical+robots+for+tele-echography+application.">A specific performances comparative study of two spherical robots for tele-echography application.</a> Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 228 (18), 3419-3429 (2014).</li><li>Bassit, L. A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> Structure m&#233;canique &#224; modules sph&#233;riques optimis&#233;es pour un robot m&#233;dical de t&#233;l&#233;-&#233;chographie mobile. , (2005).</li><li>Noh, Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Multi-Axis+force/torque+sensor+based+on+Simply-Supported+beam+and+optoelectronics.">Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics.</a> Sensors. 16 (11), 1936 (1936).</li><li>Noh, Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=An+ergonomic+handheld+ultrasound+probe+providing+contact+forces+and+pose+information.">An ergonomic handheld ultrasound probe providing contact forces and pose information.</a> Engineering in Medicine and Biology Society, Proceedings of the 37th Annual International Conference of the IEEE. , (2015).</li><li>. 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与许多其他工业机器人已被转化为医疗应用不同, 协议中描述的拟议机器人机械手是根据运动范围的临床要求专门为美国考试而设计的,力的应用和安全管理。轻量级机器人机械手本身有一个广泛的运动范围足以满足大多数物质外的美国扫描, 而不需要全球定位机制的大运动。作为最接近患者的机械结构, 建议的环节也是特别形状的, 要远离患者。大多数 dof 嵌入到一个紧凑的机械手, 机器人美国扫描...

体外机器人超声 (us) 系统是指利用机器人系统持有和操作美国探测器进行外部检查的配置, 包括用于心脏、血管、产科和一般腹部成像1.使用这种机器人系统的动机是手动持有和操纵美国探测器的挑战, 例如, 寻找临床成像方案所要求的美国标准观点的挑战, 以及重复劳损2的风险, 3,4, 以及美国筛选计划的需要, 例如, 要求有经验的超声师是现场5,6。自20世纪90年代以来, 随着早期工作 1、7、8的回顾, 推出了几个美国机器人系统, 重点关注不同的功能和目标解剖, 以改善美国的不同方面考试 (例如, 远程远程操作9,10,11,12, 以及机器人操作员的互动和自动控制)13, 14. 除了用于诊断目的的美国机器人系统外, priester 等人总结的用于治疗的机器人高强度聚焦超声系统也得到了广泛的调查.1、与近期一些作品1 5日、1 6日报告最新进展情况。
尽管美国的几个机器人系统已经开发出相对可靠的控制和临床操作技术, 但只有少数系统被成功地转化为临床用途, 例如商业上可用的远程超声系统17. 一个可能的原因是, 从患者和超声人的角度来看, 在临床环境中工作的大型工业机器人的接受程度很低。此外, 在安全管理方面, 大多数现有的美国机器人依靠力传感器来监测和控制对美国探测器施加的压力, 而更基本的被动限制力的机械安全机制通常是不存在的.这也可能引起人们的关切, 因为机器人操作的安全性将完全取决于电气系统和软件逻辑。
随着3d 打印技术的最新发展, 具有定制接头机构的特殊形状塑料连接可以为开发定制的医疗机器人提供新的机会。精心设计的轻质部件, 外观紧凑, 可提高临床接受度。专门为美国的检查, 一个定制的医疗机器人旨在转化为临床使用应该是紧凑的, 有足够的自由度 (dof) 和运动范围, 以涵盖扫描感兴趣的区域;例如, 腹部表面, 包括腹部的顶部和两侧。此外, 在试图优化美国观点时, 机器人还应该纳入在当地对美国探测器进行微调的能力。这通常包括探头在一定范围内的倾斜运动, 正如 essomba等人所建议的那样。18和 bassit19。为进一步解决安全问题, 预计该系统应具有独立于电气系统和软件逻辑的被动机械安全功能。
本文介绍了一种5自由度灵巧机械手的详细设计和装配方法, 该机械手是一种体外机器人美国系统的关键部件。该机械手由几个轻量级的3d 打印链接, 定制的关节机构, 和一个内置的安全离合器。dof 的具体安排为探头调整提供了充分的灵活性, 允许在小范围内轻松、安全地操作, 而不会与患者发生碰撞。拟议的多自由度机械手的目的是作为与患者接触的主要组件, 它可以简单地连接到任何常规的3自由度全球定位机制, 形成一个完整的美国机器人与完全活跃的 dof 执行美国扫描。

<table>
	<tbody>
		<tr>
			<td>3D-printed link L0</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L1</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L2</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L3</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L4</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed end-effector</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>20-teeth spur gear</td>
			<td>3D printing service</td>
			<td>12</td>
			<td>0.5 module, 5 mm face width, with mounting keyway, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>18-teeth bevel gear</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>0.5 module, 5 mm face width, with mounting keyway, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type A)</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 6 mm face width, with mounting keyway, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type B)</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>0.5 module, 6 mm face width, with detent holes, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type C)</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 6 mm face width, with mounting key, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>20-teeth long spur gear</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 21.5 mm face width, with mounting keyways, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>144-teeth bevel gear</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 7 mm face width, with mounting keyways, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>Bearing (37 mm O.D and 30 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>5</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (12 mm O.D and 6 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>2</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (32 mm O.D and 25 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>1</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (8 mm O.D and 5 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>2</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Plastic/metal shaft (6 mm O.D, 70 mm long)</td>
			<td>TR Fastenings Ltd., UK</td>
			<td>1</td>
			<td>e.g. Could be an M6 bolt and a nut</td>
		</tr>
		<tr>
			<td>Plastic/metal shaft (5 mm O.D, 70 mm long)</td>
			<td>TR Fastenings Ltd., UK</td>
			<td>1</td>
			<td>e.g. Could be an M5 bolt and a nut</td>
		</tr>
		<tr>
			<td>Ball-spring pairs</td>
			<td>WDS Ltd., UK</td>
			<td>4</td>
			<td>Numbers of ball-spring pairs could varied to adjust the triggering force of the clutch</td>
		</tr>
		<tr>
			<td>Clutch covers</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>104 mm O.D, 5mm face width, 6 mm bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed shaft collar</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>35 mm O.D and 30 mm I.D, 8mm face width, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed end-effector collar</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>Small geared stepper motors</td>
			<td>AOLONG TECHNOLOGY Ltd., China</td>
			<td>14</td>
			<td>Part number: GM15BYS; Internal gear ratio 232:1 or 150:1, all acceptable</td>
		</tr>
	</tbody>
</table>

design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound

由于具有高精度、灵活性和可重复性的潜力, 可以采用自跟踪机器人系统来辅助实时超声的采集。然而, 为体外超声设计的机器人数量有限, 已成功转化为临床应用。在这项研究中, 我们的目标是建立一个定制的机器人机械手, 用于体外超声检查, 它是轻量级的, 占地面积小。该机器人由五个特殊形状的链接和定制的探头操作关节机制组成, 以冗余的自由度覆盖必要的运动范围, 以确保患者的安全。强调机械安全与离合器机制, 以限制适用于患者的力量。通过设计, 机械手的总重量小于2公斤, 机械手的长度约为 2 5 厘米。该设计已经实现, 并进行了模拟, 幻影和志愿者的研究, 以验证运动范围, 使微调的能力, 机械可靠性, 和离合器的安全运行。本文详细介绍了定制机器人超声机械手的设计与实现, 并说明了设计和组装方法。介绍了该系统的设计特点和临床应用经验。结果表明, 目前提出的机器人机械手符合体外超声检查定制系统的要求, 具有很大的临床应用潜力。

按照该协议, 生成的系统是一个机器人机械手, 具有五个特殊形状的连接 (l0至 l4) 和五个旋转接头 (j1 至 j5), 用于移动、保持和局部倾斜美国探头 (图 8). 顶部旋转接头 (j1), 齿轮机构由四个电机驱动, 可以360°旋转以下结构, 使美国探头指向扫描区域的不同侧面, 如顶部、底部和腹部两侧。主倾斜接头 (j2),...

Watch this Scientific Journal Video about Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound at JoVE.com

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

一种用于体外超声的自定义机器人机械手的设计与实现

本文介绍了一种用于体外超声检查的定制机器人机械手的设计与实现。该系统具有五自由度, 采用3d 打印制造的轻质接头和用于安全管理的机械离合器。

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

我们开发了一个辐条机器人操纵器额外的男声超声波，这将旨在转化为临床应用。使用机器人系统进行超声诊断，可以潜在地改善医疗诊断。操纵器由铅重量组成，因此可打印的东西，远离机械离合器的塑料，功能。离合器独立于电气系统和电位逻辑。速记仪可以使用机器人超声波操纵器来降低重复性劳损伤的风险。该系统还可用于超声波诊断。操纵器为超声波预调整提供了完全的灵活性，允许在小区域轻松安全地操作。它可能也可以用来操纵其他医疗设备。首先，使用本文的补充材料中提供的 STL 文件，并打印所有链接，此处显示了效果器。使用 ABS PLA 或尼龙使用您自己的 3D 打印机或 3D 打印服务进行打印。还要使用尼龙打印此处显示的所有必需的附加组件。根据需要，清除 3D 打印中留下的任何支持材料，并使用抛光工具抛光所有印刷塑料零件。将 20 个齿散齿齿轮连接到四个小型齿轮步进电机。然后将步进电机放入链路零的山腔中，然后用螺钉安装它们。接下来，将两个 37 毫米外径轴承放入链路零的轴承壳体中。然后将 120 齿型 A 型散刺齿轮固定到链路 1 的六边形键上。现在，将链路 1 上的轴插入链路零上的轴孔中，与四个小型驱动散飞齿轮连接，并接合大驱动散油齿轮。然后组装轴套以固定和固定轴。将 20 个齿钳齿轮连接到另外四个小型齿轮步进电机。然后将步进电机放入连接 1 的安装腔中，然后用螺钉安装它们。接下来，将两个 120 齿 B 型散刺齿轮连接到 237 毫米外径轴承上。将它们定位到连接 1 的齿轮腔中，而 120 齿 B 型散刺齿轮与安装在电机上的 20 个齿散刺齿轮接合。拧下，必要时重新拧紧电机，以便轻松定位两个 120 齿型 B 型齿散刺齿轮。将齿轮放置到位，对齐链路 1 和连接 2，并将轴承和滚珠弹簧梨插入链路 2 中的离合器孔中。两个圆形离合器盖对齐并将弹簧推入离合器机构以进行预装，将 M6 螺栓插入链路 1 和 2 的孔中。最后将装配体旋转到另一侧，并为此侧重复步骤 4.3。通过将螺母连接到 M6 螺栓来固定组件。将 20 个齿钳齿轮连接到另外两个小型齿轮步进电机，然后将步进电机放入连接 2 的安装腔中，然后用螺钉安装它们。接下来，将一个 37 毫米外径轴承放入 120 齿型 c 型散刺齿轮的轴承壳体中。还要将一个32毫米外径轴承放入连杆三的轴承壳体中。如有必要，使用额外的螺钉将大散角齿轮固定到链路三的六边形钥匙孔中。然后，当小齿轮和大散速齿轮接合时，将连接线二上的轴插入大散油齿轮上的布尔斯，并连接三个。将两个小型齿轮步进电机放入 Link 3 的安装腔中，然后用螺钉安装它们。然后将8毫米外径轴承放入链路四的轴承壳体中。将 20 齿长的散刺齿轮安装到两个小步进电机上。将驱动 140 14 斜面齿轮定位到链路 4 的挤出上。将 18 个齿斜齿轮连接到两个小型齿轮步进电机。然后将步进电机放入链路四的安装腔中，然后用螺钉安装它们。最后将M5轴插入三环和四环的轴孔中，两个连杆对齐后。确保内置驱动啤酒结构与 20 齿长刺齿轮连接四个匹配。最后将端效应器插入大斜面齿轮的键道中，然后垂直定位端效应器，将端效应器的颜色拧到它上。这里组装的机器人操纵器有五个特殊形状的连接，以及五个旋转接头，用于移动、持有和局部倾斜美国探测器。探头可轴向旋转到任何角度。倾斜以跟随零度和 110 度之间的曲面角度，以水平在任何方向。并放置在一个圆内，直径为360毫米。使用建议的机器人操纵器时，仅使用剩余全球定位机构的小动作，就可到达大量探头位置。这里的模拟显示机器人在腹部幻象周围的位置，表明它能够到达腹部的两侧和顶部的一系列位置。执行这些步骤时，必须记住，驱动和驱动齿轮必须正确接合，使机构工作。按照这个程序，我们可以组装机器人机械手的原始设计，可以有可能转化为一个机器人明智的持有，并定位其他腹部，手术设备。利用拟议的操纵器，研究人员现在有一个轻量级的设备来探索机器人超声技术的潜在临床用途，并尝试不同的创作模式，以改善诊断结果。

Research

JoVE Journal

Engineering

Implementation of a Reference Interferometer for Nanodetection

一个参考干涉仪的Nanodetection实施

A thermally and mechanically stabilized fiber interferometer suited for examining ultra-high quality factor microcavities is fashioned. After assessing ...

科研

工程学

Design and Use of a Full Flow Sampling System (FFS) for the Quantification of Methane Emissions

Design and Use of a Full Flow Sampling System FFS for the Quantification of Methane Emissions

设计和全流采样系统（FFS）的使用甲烷排放的量化

The use of natural gas continues to grow with increased discovery and production of unconventional shale resources. At the same time, the natural gas ...

A Robotic Platform to Study the Foreflipper of the California Sea Lion

机器人平台研究加州海狮的Foreflipper

The California sea lion (Zalophus californianus), is an agile and powerful swimmer. Unlike many successful swimmers (dolphins, tuna), they generate most ...

Three-Dimensional Ultrasonic Needle Tip Tracking with a Fiber-Optic Ultrasound Receiver

基于光纤超声接收机的三维超声针尖跟踪

Ultrasound is frequently used for guiding minimally invasive procedures, but visualizing medical devices is often challenging with this imaging modality. ...

Structural Design and Manufacturing of a Cruiser Class Solar Vehicle

巡洋舰级太阳能车的结构设计与制造

Cruisers are multi-occupant solar vehicles that are conceived to compete in long-range (over 3,000 km) solar races based on the best compromise between ...

Implementation of a Nonlinear Microscope Based on Stimulated Raman Scattering

基于刺激拉曼散射的非线性显微镜的实现

Stimulated Raman scattering (SRS) microscopy uses near-infrared excitation light; therefore, it shares many multi-photon microscopic imaging properties. ...

Robotic Sensing and Stimuli Provision for Guided Plant Growth

机器人传感和刺激为引导植物生长提供

Robot systems are actively researched for manipulation of natural plants, typically restricted to agricultural automation activities such as harvest, ...

Crack Monitoring in Resonance Fatigue Testing of Welded Specimens Using Digital Image Correlation

使用数字图像相关性对焊接试样共振疲劳测试中的裂纹监测

A procedure using digital image correlation (DIC) to detect cracks on welded specimens during fatigue tests on resonance testing machines is presented. It ...

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

壁虎灵感软机器人的制造、控制和性能评估

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump

一种电动变量泵初步设计的建模与仿真方法

Electro-hydrostatic actuators (EHAs) have been considerably researched in academia, and their applications in various industrial fields are expanding. The ...