Mechanism synthesis and kinematic analysis of 4-DOF minimally invasive surgical instrument

被引：0

作者：

Li K. ^{[1
]}

Li J.-H. ^{[1
]}

Li L. ^{[1
]}

Zhuo Y. ^{[1
]}

Pan B. ^{[2
]}

Fu Y.-L. ^{[2
]}

机构：

[1] School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan

[2] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin

来源：

Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2022年 / 56卷 / 06期

关键词：

Instrument prototype; Kinematic analysis; Mechanism synthesis; Minimally invasive surgical robot; Surgical instrument;

D O I：

10.3785/j.issn.1008-973X.2022.06.008

中图分类号：

学科分类号：

摘要：

Taking the grasper as an example, a 4-DOF minimally invasive surgical (MIS) instrument driven by servo motors and transmitted by cables was designed. Miniaturization design of the end of surgical instrument was driven by cables suitable for long distance transmission, which improved the dexterity of the surgical instrument working in narrow space. Mechanism principle and dimensional synthesis including the wrist, grasper and shaft rolling were described. Working principle of the cable-capstan transmission mechanism and kinematic coupling between the wrist and grasper were analyzed. Kinematic characteristic of the surgical instrument including forward kinematics, working space analysis, Jacobian transformation, and singularity analysis were described. A prototype of the surgical instrument and driving platform testing shows that the instrument prototype can be applied in most MIS operations. Copyright ©2022 Journal of Zhejiang University (Engineering Science). All rights reserved.

引用

页码：1119 / 1126

页数：7

共 15 条

[1]

TONUTTI M, ELSON D S, YANG G Z, Et al., The role of technology in minimally invasive surgery: state of the art, recent developments and future directions, Postgraduate Medical Journal, 93, pp. 159-167, (2017)

[2]

GUERRA F, COLETTA D, BASSO C D, Et al., Conventional versus minimally invasive hartmann takedown: a meta-analysis of the literature, World Journal of Surgery, 43, pp. 1820-1828, (2019)

[3]

SU H, MARIANI A, OVUR S E, Et al., Toward teaching by demonstration for robot-assisted minimally invasive surgery, IEEE Transactions on Automation Science and Engineering, 18, 2, pp. 484-494, (2021)

[4]

CACCIANIGA G, MARIANI A, MOMI E D, Et al., An evaluation of inanimate and virtual reality training for psychomotor skill development in robot-assisted minimally invasive surgery, IEEE Transactions on Medical Robotics and Bionics, 2, 2, pp. 118-129, (2020)

[5]

ALI S, JONMOHAMADI Y, TAKEDA Y, Et al., Supervised scene illumination control in stereo arthroscopes for robot assisted minimally invasive surgery, IEEE Sensors Journal, 21, 10, pp. 11577-11587, (2021)

[6]

WANG H B, WANG S X, ZUO S Y., Development of visible manipulator with multi-gear array mechanism for laparoscopic surgery, IEEE Robotics and Automation Letters, 5, 2, pp. 3090-3097, (2020)

[7]

SUN Y W, PAN B, FU Y L., Lightweight deep neural network for real-time instrument semantic segmentation in robot assisted minimally invasive surgery, IEEE Robotics and Automation Letters, 6, 2, pp. 3870-3877, (2021)

[8]

GUTHART G S., About intuitive: helping people get back to what matters most

[9]

MINOR M, MUKHERJEE R., A dexterous manipulator for minimally invasive surgery, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2057-2064, (1999)

[10]

ARATA J, MITSUISHI M, WARISAWA S, Et al., Development of a dexterous minimally invasive surgical system with augumented force feedback capability, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3207-3212, (2005)

← 1 2 →