An improved surgical instrument without coupled motions that can be used in robotic-assisted minimally invasive surgery

被引：12

作者：

Feng Mei ^{[1
]}

Fu Yili ^{[1
]}

Pan Bo ^{[1
]}

Zhao Xudong ^{[1
]}

机构：

[1] Harbin Inst Technol, Sch Mechatron Engn, Harbin 150006, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE | 2012年 / 226卷 / H8期

关键词：

Robotic-assisted minimally invasive surgery; surgical instrument; coupled motion; compensation mechanism; SYSTEM;

D O I：

10.1177/0954411912447145

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

In order to enhance the dexterity of surgical instruments in robotic-assisted minimally invasive surgery, the robot is generally configured so as to have a wrist. However, this configuration has a problem in that there is a coupling of the motions of the wrist and the end-effector. In this paper an improved surgical instrument is proposed that eliminates the coupled motion using a compensation mechanism. The design concept behind the compensation mechanism can be applied to other types of surgical instruments. The performance of the proposed surgical instrument is validated by mechanical performance testing and animal experiments, which indicate that the problem of the coupled motion is successfully solved and the instrument is able to perform surgical tasks.

引用

页码：623 / 630

页数：8

共 18 条

[1]

Asai D, 2004, LECT NOTES COMPUT SC, V3217, P33

[2] Robotics revolutionizing surgery: the intuitive surgical "Da Vinci" system [J].

Broeders, IAMJ ;

Ruurda, J .

INDUSTRIAL ROBOT, 2001, 28 (05) :387-391

[3]

Cavusoglu MC, 2001, IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P2234, DOI 10.1109/IROS.2001.976402

[4] Dexterity-enhanced telerobotic microsurgery [J].

Charles, S ;

Das, H ;

Ohm, T ;

Boswell, C ;

Rodriguez, G ;

Steele, R ;

Istrate, D .

8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97, 1997, :5-10

[5]

Dario P, 1997, IEEE INT CONF ROBOT, P1573, DOI 10.1109/ROBOT.1997.614364

[6]

Guthart G. S., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P618, DOI 10.1109/ROBOT.2000.844121

[7] Control of a multijoint manipulator "Moray arm" [J].

Ma, SG ;

Kobayashi, I ;

Hirose, S ;

Yokoshima, K .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2002, 7 (03) :304-317

[8]

Madhani AJ, 1998, 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3, P936, DOI 10.1109/IROS.1998.727320

[9]

Merlet JP, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P1149, DOI 10.1109/ROBOT.2002.1014698

[10]

Minor M, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P2057, DOI 10.1109/ROBOT.1999.770410

← 1 2 →