一种新型机器人微创手术微器械的机构设计及运动学分析

Mechanism Design and Kinematics Analysis of a Micro Instrument for Robotic Minimally Invasive Surgery

  • 摘要: 为满足微创手术对微器械结构尺寸、运动灵活性以及工作空间等方面的要求,设计了一种由钢丝驱动的模块化关节.通过对该关节运动特性及拓扑方式的研究, 提出了一种采用模块关节配置器械腕部自由度的微器械设计方法.为验证该设计方法的可行性,研制了腕部包含4个单元关节的微创手术分离钳, 并建立了统一的手术微器械运动学模型.测试实验证明,该分离钳腕部具有很好的灵活性,能够满足微创手术操作对器械运动范围及空间灵活性的要求.

     

    Abstract: To meet the requirements of mechanical dimensions, motion flexibility and working space for micro instruments in MIS (minimally invasive surgery), a modular joint driven by steel wires is designed. By studying the motion characteristics and topology method of the modular joint, a designing procedure of micro instrument is presented, in which the degree of freedom of the instrument wrist can be configurated randomly by using the modular joint. To verify the feasibility of the procedure, a separating forceps with four modular joints in its wrist is developed for MIS operations, and a normative kinematics model of the instruments is presented. The test experiments prove that the wrist of the separating forceps has good flexibility, and it can satisfy the clinical requirements for motion range and spatial flexibility for MIS operations.

     

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