인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록·키워드
Precision motion actuation is a key technology for miniature medical robotics in a variety of applications, such as optical fibre-based diagnosis and intervention tools. Conventional inductive actuation mechanisms are challenging to scale down. Piezoelectric materials offer a scalable, precise, fast and high-force method but at a limited displacement range. In previous work, the combination of piezoelectric beams (benders) with compliant motion translation structures has been shown to be promising for robotic micro-actuation. In this paper, this approach is employed to implement a three degrees of freedom delta robot, suitable for catheter, diagnostic optical fibre and microsurgery tool manipulation. The fabrication process combines additive manufacturing, origami structuring and piezoelectric beam assembly. Closed-loop control is implemented using a new, on-board visual feedback concept. In contrast to typical optical motion systems, the fully internal visual feedback offers system compactness with precise and reliable camera-to-marker geometry definition. By employment of this method, a delta robot with motion accuracy of 7.5 μm, resolution of 10 μm and 8.1 μm precision is demonstrated. The robot is shown to follow a range of programmable trajectories under these specifications, and to compensate for externally applied forces typically expected during microsurgery manipulations. This is the first, to our knowledge, demonstration of micromotion control using internal visual feedback, and it opens up the way for high-resolution compact microrobots.
인공지능 문자 인식 모델을 통해 추출된 텍스트로, 일부 오타나 오류가 포함될 수 있으나 지속적으로 개선 중입니다.
오류를 발견하셨다면 해당 부분을 드래그한 후 ' 를 통해 신고해주세요.
오류를 발견하셨다면 해당 부분을 드래그한 후 ' 를 통해 신고해주세요.
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