一种具有柔性腕部的新型微创手术工具的设计

张健; 李进华; 李建民; 孔康; 崔梦超

doi:10.13433/j.cnki.1003-8728.2016.0803

一种具有柔性腕部的新型微创手术工具的设计

doi: 10.13433/j.cnki.1003-8728.2016.0803

1.
天津大学机械工程学院, 天津 300072

基金项目:

国家自然科学基金项目（51275335）与国家高技术研究发展计划（863计划）项目（2012AA041606，2012AA041602）资助

详细信息

作者简介:
张健(1988-),硕士研究生,研究方向为机器人机构设计和控制仿真,zhangjtju@163.com

通讯作者:
李进华(联系人),副教授,博士,lijinhua@tju.edu.cn

计量
- 文章访问数: 171
- HTML全文浏览量: 25
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2014-08-28
- 刊出日期: 2016-08-05

Design of a Novel Surgery Instrument with a Flexible Wrist for Minimally Invasive Surgery

1.
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

摘要

摘要: 针对微创手术实际需求，提出了一种具有柔性腕部的新型微创手术工具的原理方案，并开展了相应的结构分析与性能优化的研究工作。详细阐述了一种用作工具腕部的两自由度柔性结构和刚性驱动结构的设计方法，并依据驱动钢丝长度的变化量关系，通过数学建模、编程计算等方法构建出柔性腕部结构与刚性驱动结构之间的映射模型。最后，对工具整体进行了结构与尺寸参数优化，并通过基于原型样机的实验研究与性能测试，验证了该微创手术工具结构方案的可行性。
- 微创手术 /
- 柔性腕部 /
- 手术工具 /
- 结构设计
Abstract: To meet the requirements of minimally invasive surgery, the conceptual design of a novel surgery instrument with a flexible wrist is presented and the appropriate structural design and performance optimization studies are carried out. A flexible wrist with two degrees of freedom and a rigid driver platform are designed. According to the length variation of steel wire, we present the mapping model between the flexible wrist and the rigid driver platform by mathematical modeling and programming calculation. Finally, the overall structure and size parameters of the instrument are optimized. The experimental studies and performance tests based on the prototype verify the feasibility of the design procedure of the instrument.
- minimally invasive surgery /
- flexible wrist /
- surgical instrument /
- structural design

HTML全文

参考文献(15)

[1]	Taylor R H,Funda J,Eldridge B,et al.A telerobotic assistant for laparoscopic surgery[J].IEEE Engineering in Medicine and Biology Magazine,1995,14(3):279-288
[2]	Butner S E,Ghodoussi M.Transforming a surgical robot for human telesurgery[J].IEEE Transactions on Robotics and Automation,2003,19(5):818-824
[3]	Stoianovici D,Webster R,Kavoussi L.Robotic tools for minimally invasive urologic surgery[J].Recognition,Management&Prevention,2002,12(2):1-17
[4]	Miyamoto S,Sugiura M,Watanabe S,et al.Development of minimally invasive surgery systems[J].Hitachi Review,2003,52(4):189-195
[5]	Vuilleumier H,Halkic N.Implementation of robotic laparoscopic cholecystectomy in a university hospital[J].Swiss Medical Weekly,2003,133(23-24):347-349
[6]	Satava R M.Surgical robotics:the early chronicles:a personal historical perspective[J].Surgical Laparoscopy,Endoscopy&Percutaneous Techniques,2002,12(1):6-16
[7]	Fischer H,Vogel B,Pfleging W,et al.Flexible distal tip made of nitinol (NiTi) for a steerable endoscopic camera system[J].Materials Science and Engineering:A,1999,273-275:780-783
[8]	Simaan N,Taylor R,Flint P.High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway[M]//Barillot C,Haynor D R,Hellier P.Medical Image Computing and Computer-Assisted Intervention-MICCAI 2004.Berlin Heidelberg:Springer,2004:17-24
[9]	Simaan N,Taylor R,Flint P.A dexterous system for laryngeal surgery[C]//Proceedings of 2004 IEEE International Conference on Robotics and Automation,2004.New Orleans,LA,USA:IEEE,2004,1:351-357
[10]	Martinez R V,Branch J L,Fish C R,et al.Robotic tentacles with three-dimensional mobility based on flexible elastomers[J].Advance Materials,2013,25(2):205-212
[11]	Martinez R V,Fish C R,Chen X,et al.Elastomeric origami:programmable paper-lastomer composites as pneumatic actuators[J].Advanced Functional Materials,2012,22(7):1376-1384
[12]	Zhang L A,Wang S X,Li J M,et al.A novel reconfigurable unit for high dexterous surgical instrument[M]//Dai J S,Zoppi M,Kong X W.Advances in Reconfigurable Mechanisms and Robots I.London:Springer,2012:433-442
[13]	Qin Y,Zhang K T,Li J M,et al.Modelling and analysis of a rigid-compliant parallel mechanism[J].Robotics and Computer-Integrated Manufacturing,2013,29(4):33-40
[14]	Craig J J.机器人学导论[M].贠超,译.北京:机械工业出版社,2006 Craig J.Introduction to robotics mechanics and control[M].Yun C,trans.Beijing:China Machine Press,2006(in Chinese)
[15]	Wang X F,Wang S X,Li J M,et al.Conceptual design of a novel multi-DoF manual instrument for laparoscopic surgery[J].The International Journal of Medical Robotics and Computer Assisted Surgery,2013,9(1):75-82