热因素对线控穿刺机器人精度稳定性的影响

doi:10.13229/j.cnki.jdxbgxb.20240399

Abstract

Abstract:

This article focuses on the micro invasive process of variable path wire controlled robots with micrometer precision， and studies the influence of temperature factors on puncture accuracy. By integrating thermal analysis and structural mechanics analysis， the non-uniform temperature field and structural deformation characteristics of key puncture needle components were obtained. By combining the orthogonal experimental analysis method， the influence of transient and steady-state temperature changes on the changes of puncture needle components was analyzed. The results show that the transient and steady-state temperatures from 23 ℃ to 40 ℃ have a significant impact on the precision of micrometer level puncture， and the accuracy impact indicators of the two temperature conditions are consistent： the maximum thermal deformation of the puncture needle with process parameters of 40 ℃-3.1 mm-3 mm/s is 0.012 mm， and the corresponding system impact reaches about 0.1 mm； In addition， based on the characteristics of clinical puncture technology， a 3-factor 5-level analysis of variance and regression analysis were conducted to reveal the non-uniform thermal deformation law caused by thermal factors of titanium nickel alloy puncture needles and the influence of temperature T on puncture accuracy， which is greater than the diameter D of the puncture needle and the injection speed V.

Key words: thermal effect, flexible wire-controlled puncture, precision minimally invasive, experiment analysis

CLC Number:

TP242

Guan-bin WANG,Ye-wang SUN,Peng-kai GAO,Lu-wei YANG. Influence of thermal factors on precision stability of wire-controlled puncture robot[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(4): 1225-1231.

Figures/Tables 8

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Table 1

Orthogonal experimental analysis data oninfluence of thermal factors on displacementchanges of puncture needles"

序号	1（ $T$ ）/℃	2（ $D$ ）/mm	3（ $V$ ）/（mm·s^-1）	热位移/mm
1	23	2.3	1	5.832 7×10??
2	23	2.5	3	6.613 1×10??
3	23	2.7	5	6.669 2×10??
4	23	2.9	8	6.779 6×10??
5	23	3.1	10	6.829 1×10??
6	30	2.3	3	5.268 7×10?³
7	30	2.5	5	5.290 3×10?³
8	30	2.7	8	5.335 4×10?³
9	30	2.9	10	5.423 7×10?³
10	30	3.1	1	5.463 3×10?³
11	37	2.3	5	9.878 7×10?³
12	37	2.5	8	9.919 4×10?³
13	37	2.7	10	1.000 4×10?²
14	37	2.9	1	1.016 9×10?²
15	37	3.1	3	1.024 4×10?²
16	39	2.3	8	1.119 6×10?²
17	39	2.5	10	1.124 2×10?²
18	39	2.7	1	1.133 8×10?²
19	39	2.9	3	1.154 3×10?²
20	39	3.1	5	1.160 9×10?²
21	40	2.3	10	1.185 4×10?²
22	40	2.5	1	1.190 3×10?²
23	40	2.7	3	1.200 5×10?²
24	40	2.9	5	1.220 3×10?²
25	40	3.1	8	1.229 2×10?²

Table 1

Table 2

Analysis of variance"

因素	偏差平方和	自由度	方差估计	F值	F_0.1（4，4）	F_0.05（4，4）	显著性
$T$	10.9	4	5.4	15.2	9.0	19.0	显著
$D$	1.5	4	0.7	2.1	9.0	19.0	不显著
$V$	0.7	4	0.3	1.0	9.0	19.0	不显著

Table 2

Table 3

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Influence of thermal factors on precision stability of wire-controlled puncture robot

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