• Optics and Precision Engineering
  • Vol. 32, Issue 19, 2861 (2024)
Tianliang LI1,*, Yongwen ZHU1, Jiajun LI1, Jun WANG2..., Wei MENG3 and Yuegang TAN1|Show fewer author(s)
Author Affiliations
  • 1School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan430070, China
  • 2Department of Neurosurgery, Renmin Hospital of Wuhan University, Wuhan430060, China
  • 3School of Information Engineering, Wuhan University of Technology, Wuhan40070, China
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    DOI: 10.37188/OPE.20243219.2861 Cite this Article
    Tianliang LI, Yongwen ZHU, Jiajun LI, Jun WANG, Wei MENG, Yuegang TAN. Fiber-optic navigation of approach attitude for transnasal flexible surgical robot[J]. Optics and Precision Engineering, 2024, 32(19): 2861 Copy Citation Text show less

    Abstract

    To address the challenges of limited dexterity in traditional transnasal surgery and inadequate intraoperative guidance, a flexible transnasal surgical robot with fiber-optic navigation is developed. The design features a flexible manipulator with spherical hinges and pin-slot configuration for enhanced dexterity and resistance to torsional disturbances. The robot's forward and inverse kinematics are modeled using geometric analysis and the D-H parameter method. Embedded with two fiber-optic sensors at 90° intervals in each manipulator, a data-driven posture calibration using binocular vision and extreme learning avoids errors from traditional offline calibration and mitigates error accumulation in differential geometry posture estimation. This enhances high-precision perception of the robot's shape and position. Experiments demonstrate the manipulator's bending angle can reach 105°, with a load capacity of 0.9 N at 80°. Using fiber-optic navigation, maximum position prediction errors are 0.920 mm in free environments and 1.635 mm with obstacles, confirming the robot's effectiveness and feasibility.
    EWT=BWTEBT=EBREBPOE01×31=nxoxaxpxnyoyaypynzozazpz0001(1)

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    BWT=rot(Zw,α)×trans(Zw,M1)(2)

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    EBT=EBREBPOE01×31(3)

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    EBR=rot(ZB,φ)×rot(YB,Θ)×rot(ZB,-φ)(4)

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    Θ=Nθ(5)

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    EBPOE=pxpypz=hi=1Nsin(iθ)cos(φ)hi=1Nsin(iθ)sin(φ)hi=1Ncos(iθ)(6)

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    L1=L0+2Nbsinθ2-h0sin2θ4(7)

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    L2=L0+2Nasinθ2-h0sin2θ4(8)

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    L3=L0-2Nasinθ2+h0sin2θ4(9)

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    L4=L0-2Nbsinθ2+h0sin2θ4(10)

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    φ=arctanL2-L4L1-L3(11)

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    Θ=2Narcsin(L1-L3)2+(L2-L4)22Nd(12)

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    i+1iT=trans(0,hsinθ,hcosθ)rot(yi,θ)(13)

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    lWT=rot(xw,φ)(14)

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    NWT=1WT21T32Ti+1iTNN-1T(15)

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    T-(xl-xr)Z-f=TZZ=fTxl-xr=fTd(16)

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    x=fXZ;y=fYZ(17)

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    X=Td(u-cx)(18)

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    Y=Td(ν-cy)(19)

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    XYZW=100-cx010-cy001f001/T0uvd1(20)

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    RTOlXWYWZWW=XYZW(21)

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    Δλi(j)=λB-i(j)(1-pe)εi(j)(22)

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    H=g(wΔλ+b)(23)

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    Hβ=G(24)

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    minHβ-G2(25)

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    β^=H+G(26)

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    R=βg(wΔλ+b)(27)

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    Tianliang LI, Yongwen ZHU, Jiajun LI, Jun WANG, Wei MENG, Yuegang TAN. Fiber-optic navigation of approach attitude for transnasal flexible surgical robot[J]. Optics and Precision Engineering, 2024, 32(19): 2861
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