Study on the Tension Transmission of Steel Cable-driven Surgical Instrument for Robot-assisted Minimally Invasive

被引：0
作者：
Feng M. [1 ]
Li Y. [1 ]
Zhao J. [2 ]
Hu Y. [1 ]
Gao K. [1 ]
机构：
[1] School of Mechanical and Aerospace Engineering, Jilin University, Changchun
[2] School of Mechanical Engineering and Automation, Northeastern University, Shenyang
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2021年 / 57卷 / 11期
关键词：
Robot-assisted minimally invasive surgery; Steel cable-driven; Surgical instruments; Tension transmission;
D O I：
10.3901/JME.2021.11.120
中图分类号：
学科分类号：
摘要：
The surgical instruments for robot-assisted minimally invasive surgery generally use steel cable-driven to achieve the power transmission under the structure of large length diameter ratio. The tension loss of steel cable in the process of force transmission will cause motion error of surgical instruments. Therefore, the research on the tension change of steel cable is the premise to ensure the motion accuracy of surgical instruments. According to the structural characteristics of surgical instruments, the radius ratio of pulley to steel cable and tension inclination angle are introduced to characterize the bending stiffness of steel cable. Through the force analysis of contact area and non-contact area between steel cable and pulley, the calculation formula for calculating the tension of steel cable is obtained. The experimental results show that the tension value obtained by using the tension formula proposed here is in good agreement with the tension value directly measured by the sensor. In addition, the influence of structural parameters such as wrap angle, friction coefficient, radius ratio and tension inclination angle on the tension change of steel cable is analyzed. This study can provide theoretical guidance for precise motion control and structure design of surgical instruments. © 2021 Journal of Mechanical Engineering.
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页码：120 / 127
页数：7
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