设计无线机器人模拟头颅运动，研究CBCT成像中的运动伪影。
Design and construction of a wireless robot that simulates head movements in cone beam computed tomography imaging
- 用缆索驱动并联机器人模拟临床相关头颅运动
- 运动重复性超95%，可同步辐射进行成像
- 手机/电脑无线控制，避免操作者受辐射
颌面放射影像学中，锥形束计算机断层扫描（CBCT）系统常产生各类图像伪影，其中由患者引起的运动伪影严重影响图像质量。针对CBCT检查室的条件与限制，本文设计并开发了一种缆索驱动并联机器人，用于在CBCT扫描中重复执行干颅骨的运动，以研究运动伪影并构建含运动伪影的参考数据集。该机器人可在成像过程中实现3自由度运动，运动模式基于临床证据选择。文中提出了机器人的运动学模型，分析了运动量与直流电机脉宽之间的关系。用户可通过智能手机或笔记本电脑经由Wi-Fi无线控制机器人，无线通信有效避免操作者暴露于辐射。实验结果表明，该机器人在执行多种运动时重复性超过95%。
原文摘要 · Abstract (English)
One of the major challenges in the science of maxillofacial radiology imaging is the various artifacts created in images taken by cone beam computed tomography (CBCT) imaging systems. Among these artifacts, motion artifact, which is created by the patient, has adverse effects on image quality. In this paper, according to the conditions and limitations of the CBCT imaging room, the goal is the design and development of a cable-driven parallel robot to create repeatable movements of a dry skull inside a CBCT scanner for studying motion artifacts and building up reference datasets with motion artifacts. The proposed robot allows a dry skull to execute motions, which were selected on the basis of clinical evidence, with 3-degrees of freedom during imaging in synchronous manner with the radiation beam. The kinematic model of the robot is presented to investigate and describe the correlation between the amount of motion and the pulse width applied to DC motors. This robot can be controlled by the user through a smartphone or laptop wirelessly via a Wi-Fi connection. Using wireless communication protects the user from harmful radiation during robot driving and functioning. The results show that the designed robot has a reproducibility above 95% in performing various movements.
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