Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China.
Int J Med Robot. 2021 Aug;17(4):e2286. doi: 10.1002/rcs.2286. Epub 2021 May 26.
The conventional hand-held minimally invasive surgical devices commonly suffer from non-intuitive manipulability and restricted flexibility for operation.
A hand-held surgical device with enhanced intuitive manipulability and stable grip force was proposed for minimally invasive surgery (MIS). The dexterous instrument and isomorphic handle were designed, and the cable transmission structure and model of the instrument were analysed. A modelling method for grip force pre-compensation was proposed to produce stable grip forces under different posture.
The prototype of the proposed MIS device was developed, and the related experiments were carried out. The maximum opening angle error was 1.2°. Compared with the non-compensation model, the variation of grip force reduced 8 times with the pre-compensation model. The animal vivo experiments verified the feasibility and practicability of the device.
The proposed hand-held device could provide intuitive manipulability and stable operation, which contributes to the performance improvement of the MIS.
传统的手动微创外科手术器械通常存在操作不直观和操作灵活性受限的问题。
为微创手术（MIS）设计了一种具有增强的直观操作性和稳定握持力的手动手术器械。设计了灵巧器械和同构手柄，并分析了器械的电缆传输结构和模型。提出了一种握持力预补偿建模方法，可在不同姿势下产生稳定的握持力。
开发了所提出的 MIS 设备原型，并进行了相关实验。最大开口角度误差为 1.2°。与非补偿模型相比，预补偿模型握持力的变化减少了 8 倍。动物体内实验验证了该设备的可行性和实用性。
所提出的手动装置可以提供直观的操作性和稳定的操作，有助于提高 MIS 的性能。
