新型可展开式手臂用于经自然腔道内镜手术的开发。
Development of a novel deployable arm for natural orifice transluminal endoscopic surgery.
机构信息
School of Control Science and Engineering, Shandong University, Jinan, China.
Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China.
出版信息
Int J Med Robot. 2021 Jun;17(3):e2232. doi: 10.1002/rcs.2232. Epub 2021 Mar 28.
BACKGROUND
Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms.
METHODS
The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end-effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified.
RESULTS
The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end-effectors can be maintained within the range of [88°, 110°].
CONCLUSIONS
The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.
背景
经自然腔道内镜手术（NOTES）由内镜的器械通道辅助。受限于内镜的直径，操作三角的构建受到影响。本文提出了一种可展开的机械臂，可以增加臂之间的距离。
方法
操作臂由连续体臂和可展开臂组成。可展开臂可以通过系索和机械结构锁定。综合分析末端执行器与两个操作臂公共工作空间之间的角度。通过实验验证和证明了设计参数。
结果
实验表明，在 300 克负载下，展开臂可以将变形保持在 3.5 毫米以内，并且两个末端执行器之间的角度可以保持在 [88°，110°]范围内。
结论
新型可展开机械臂增大了末端执行器之间的角度，显著提高了机械臂的灵活性。
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