Design and analysis of a novel long-distance double tendon-sheath transmission device for breast intervention robots under MRI field

Cancer represents a major threat to human health. Magnetic resonance imaging (MRI) provides superior performance to other imaging-based examination methods in the detection of tumors and offers distinct advantages in biopsy and seed implantation. However, because of the MRI environment, the material requirements for actuating devices for the medical robots used in MRI are incredibly demanding. This paper describes a novel double tendon-sheath transmission device for use in MRI applications. LeBus grooves are used in the original transmission wheels, thus enabling the system to realize long-distance and large-stroke transmission with improved accuracy. The friction model of the transmission system and the transmission characteristics model of the novel tendon-sheath structure are then established. To address the problem that tension sensors cannot be installed in large-stroke transmission systems, a three-point force measurement method is used to measure and set an appropriate preload in the novel tendon-sheath transmission system. Additionally, experiments are conducted to verify the accuracy of the theoretical model and multiple groups of tests are performed to explore the transmission characteristics. Finally, the novel tendon-sheath transmission system is compensated to improve its accuracy and the experimental results acquired after compensation show that the system satisfies the design requirements

Source Delay in Mobile Ad Hoc Networks

Source delay, the time a packet experiences in its source node, serves as a fundamental quantity for delay performance analysis in networks. However, the source delay performance in highly dynamic mobile ad hoc networks (MANETs) is still largely unknown by now. This paper studies the source delay in MANETs based on a general packet dispatching scheme with dispatch limit $f$ (PD-$f$ for short), where a same packet will be dispatched out up to $f$ times by its source node such that packet dispatching process can be flexibly controlled through a proper setting of $f$. We first apply the Quasi-Birth-and-Death (QBD) theory to develop a theoretical framework to capture the complex packet dispatching process in PD-$f$ MANETs. With the help of the theoretical framework, we then derive the cumulative distribution function as well as mean and variance of the source delay in such networks. Finally, extensive simulation and theoretical results are provided to validate our source delay analysis and illustrate how source delay in MANETs are related to network parameters.Comment: 11page