Tianjin WEGO Dr. Tech Medical Technology Co., Ltd, Tianjin, 300308, China.
School of Mechanical Engineering, Tianjin University, Tianjin, 300350, China.
J Robot Surg. 2024 Aug 7;18(1):312. doi: 10.1007/s11701-024-02072-9.
High-performance miniature surgical instruments play an important role in complicated minimally invasive surgery (MIS). Based on in-depth analysis of the requirements of MIS and the characteristics of the existing minimally invasive surgical instruments, a multiple degrees of freedom (DOF) robotic surgical instrument with decoupled pose was proposed. Firstly, the design concept of the pose decoupling instrument was described in detail, and its physical structure, transmission structure, and mechanical properties were designed and analyzed. A surgical instrument control algorithm based on the master-slave mode was established. Finally, a physical prototype was developed, and its motion ranges of joints, load capacity, and suture operation performance were comprehensively evaluated, which confirmed the effectiveness of the proposed minimally invasive robotic surgical instrument.
高性能微型手术器械在复杂的微创手术（MIS）中起着重要作用。基于对 MIS 要求的深入分析和现有微创手术器械的特点，提出了一种具有解耦姿态的多自由度（DOF）机器人手术器械。首先，详细描述了姿态解耦器械的设计理念，并对其物理结构、传动结构和机械性能进行了设计和分析。建立了基于主从模式的手术器械控制算法。最后，开发了一个物理原型，并对其关节运动范围、承载能力和缝合操作性能进行了综合评估，验证了所提出的微创机器人手术器械的有效性。
