School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
Institute of Medical Robotics, Shanghai Jiao Tong University, shanghai, 200240, China.
Int J Comput Assist Radiol Surg. 2021 Feb;16(2):301-309. doi: 10.1007/s11548-020-02290-0. Epub 2021 Jan 3.
The development of surgery is to be minimally invasive and collaborative with robot systems, which has caught increasing attention in recent years. However, the narrow access routes and confined working spaces in vivo usually make distal end-effectors of surgical systems not easy to operate. To overcome this problem, a novel cable-driven distal end-effector mechanism designed for single-port robotic surgery was proposed.
A cable-driven joint structure and the corresponding methods of threading cables were proposed which can maintain the length and even the tension force of cables constant during operation. Based on the proposed joint structure, the cable-driven distal end-effector mechanism consists of a parallelogram mechanism and a snake mechanism. The parallelogram mechanism is used to enlarge its reachable workspace through establishing the triangulation of operation. The snake mechanism is used to achieve the expected pose through providing sufficient bending degrees of freedom. All of the degrees of freedom can be decoupled at the expense of a slightly more tedious process of threading cables.
The primary prototype and its miniature assembled and threaded manually performed as expected regardless of bend, translation and their combination. But the inadequate tension force of cables and assembly errors affect the load capacity and accuracy, which need to be improved by automatic assembly.
A cable-driven distal end-effector mechanism composed of a parallelogram mechanism, and a snake mechanism used for single-port robotic surgery was proposed. The mechanism adopts a novel cable-driven joint structure and corresponding methods of threading cables to keep the length and even the tension force of cables constant during surgery.
手术的发展方向是微创，并与机器人系统协作，这在近年来受到了越来越多的关注。然而，体内狭窄的操作通道和有限的工作空间通常使得手术系统的远端执行器难以操作。为了解决这个问题，提出了一种用于单孔机器人手术的新型缆驱动远端执行器机构。
提出了一种缆驱动关节结构及相应的穿线方法，可在手术过程中保持缆线的长度和张力不变。基于所提出的关节结构，缆驱动远端执行器机构由一个平行四边形机构和一个蛇形机构组成。平行四边形机构通过建立操作的三角形来扩大其可触及的工作空间。蛇形机构通过提供足够的弯曲自由度来实现预期的姿态。所有自由度都可以通过稍微繁琐的穿线过程来解耦。
尽管存在缆线张力不足和装配误差等问题，影响了承载能力和精度，但主要原型及其手动组装和穿线的微型版本仍能按预期执行弯曲、平移及其组合动作。
提出了一种由平行四边形机构和蛇形机构组成的用于单孔机器人手术的缆驱动远端执行器机构。该机构采用了一种新型的缆驱动关节结构和相应的穿线方法，可在手术过程中保持缆线的长度和张力不变。
