Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.
Chinese Academy of Sciences Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun 130033, China.
Sensors (Basel). 2024 Sep 11;24(18):5895. doi: 10.3390/s24185895.
Physiological hand tremors, twitching, and the nonlinear characteristics of the relationship between surgical forceps clamping force and operating force seriously affect the clamping accuracy of surgical instruments. To address this problem, a new type of surgical forceps with a force-holding function was developed to replace traditional forceps, which was studied in terms of structural design, statics, and dynamics. The overall structure of the surgical forceps was designed based on the lever principle, the kinematic model of the clamping part of the surgical forceps was established by the geometrical method, and the correctness of the kinematic model was verified by ADAMS. To address the clamping accuracy of the surgical forceps, a stress analysis was performed, its dynamics model was established, a finite element simulation was performed, the modal of the forceps was optimized using the Box-Behnken method, and, finally, an experimental platform was built to perform the accuracy test. The results demonstrate that the designed surgical forceps exhibit high clamping accuracy and fulfill the design specifications for surgical operations.
生理手部震颤、抽搐以及手术器械夹闭力与操作力之间非线性关系的特点，严重影响手术器械的夹闭精度。为了解决这个问题，开发了一种具有力保持功能的新型手术器械来代替传统器械，从结构设计、静力学和动力学方面进行了研究。手术器械的整体结构基于杠杆原理设计，通过几何方法建立手术器械夹闭部分的运动学模型，并通过 ADAMS 验证运动学模型的正确性。为了解决手术器械的夹闭精度问题，进行了应力分析，建立了动力学模型，进行了有限元模拟，使用 Box-Behnken 方法对器械的模态进行了优化，最后构建了一个实验平台进行精度测试。结果表明，设计的手术器械具有较高的夹闭精度，满足手术操作的设计规范。
