Design and validation a minimally invasive robotic surgical instrument with decoupled pose and multi-DOF

被引：1

作者：

Yang, Yingkan ^{[1
]}

Zhang, Huaifeng ^{[1
]}

Kong, Kang ^{[2
]}

Su, He ^{[2
]}

Li, Jianmin ^{[2
]}

机构：

[1] Tianjin WEGO Dr Tech Med Technol Co Ltd, Tianjin 300308, Peoples R China

[2] Tianjin Univ, Sch Mech Engn, Tianjin 300350, Peoples R China

来源：

JOURNAL OF ROBOTIC SURGERY | 2024年 / 18卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Surgical robot; Instrument; Decoupled pose; Mapping algorithm; NEEDLE HOLDER;

D O I：

10.1007/s11701-024-02072-9

中图分类号：

R61 [外科手术学];

学科分类号：

摘要：

High-performance miniature surgical instruments play an important role in complicated minimally invasive surgery (MIS). Based on in-depth analysis of the requirements of MIS and the characteristics of the existing minimally invasive surgical instruments, a multiple degrees of freedom (DOF) robotic surgical instrument with decoupled pose was proposed. Firstly, the design concept of the pose decoupling instrument was described in detail, and its physical structure, transmission structure, and mechanical properties were designed and analyzed. A surgical instrument control algorithm based on the master-slave mode was established. Finally, a physical prototype was developed, and its motion ranges of joints, load capacity, and suture operation performance were comprehensively evaluated, which confirmed the effectiveness of the proposed minimally invasive robotic surgical instrument.

引用

页数：10

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