【摘要】 为简化在介入式医疗术后病理组织取样、活检中的复杂操作,设计了一种新型的取样机器人机构。通过对术后病理组织取样分析,明确设计要求并确定了机器人机构构型。对机构进行数学建模,推导出取样机器人弯曲度和控制量之间的关系,并采用XNA技术模拟出柔性取样机器人所在环境,搭建了取样机器人的控制系统。在所设计柔性机器人平台上进行取样实验,结果表明该机器人可以快速、准确地实现病理组织取样。更多还原

【Abstract】 At the present time,in extra-vascular environments,it’s very difficult to remove the pathological tissue. Therefore,getting out the pathological tissue largely depends on the doctor’s ability.By analysis troubles from remove pathological tissue,proposed a new sampling robotic,and did mathematical modeling,compute the relationship between curvature and input value.Using XNA technology to simulate the environment,designed the total control system.Experimental results show that the robotic can accurately grab required objects under the well-control circumstances.更多还原