プログラム可能な追従制御を実現する螺旋腱駆動連続体ロボット
Helical Tendon-Driven Continuum Robot with Programmable Follow-the-Leader Operation
脊髄刺激電極を硬膜外腔へ正確に導くため、腱駆動の螺旋型連続体ロボットExoNavの静的モデルを構築し、重力を考慮した形状予測と追従制御(FTL)動作をシミュレーションと実験で検証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Behnam Moradkhani, Raghav Sankaranarayanan, Pejman Kheradmand, Harshith Jella, Nicholas Ahn, Ajmal Zemmar, Yash Chitalia
分類: cs.RO
原文アブストラクト
Spinal cord stimulation (SCS) is primarily utilized for pain management and has recently demonstrated efficacy in promoting functional recovery in patients with spinal cord injury. Effective stimulation of motor neurons ideally requires the placement of SCS leads in the ventral or lateral epidural space where the corticospinal and rubrospinal motor fibers are located. This poses significant challenges with the current standard of manual steering. In this study, we present a static modeling approach for the ExoNav, a steerable robotic tool designed to facilitate precise navigation to the ventral and lateral epidural space. Cosserat rod framework is employed to establish the relationship between tendon actuation forces and the robot's overall shape. The effects of gravity, as an example of an external load, are investigated and implemented in the model and simulation. The experimental results indicate RMSE values of 1.76mm, 2.33mm, 2.18mm, and 1.33mm across four tested prototypes. Based on the helical shape of the ExoNav upon actuation, it is capable of performing follow-the-leader (FTL) motion by adding insertion and rotation DoFs to this robotic system, which is shown in simulation and experimentally. The proposed simulation has the capability to calculate optimum tendon tensions to follow the desired FTL paths while gravity-induced robot deformations are present. Three FTL experimental trials are conducted and the end-effector position showed repeatable alignments with the desired path with maximum RMSE value of 3.75mm. Ultimately, a phantom model demonstration is conducted where the teleoperated robot successfully navigated to the lateral and ventral spinal cord targets. Additionally, the user was able to navigate to the dorsal root ganglia, illustrating ExoNav's potential in both motor function recovery and pain management.
