Abstract
Taking the grasper as an example, a 4-DOF minimally invasive surgical (MIS) instrument driven by servo motors and transmitted by cables was designed. Miniaturization design of the end of surgical instrument was driven by cables suitable for long distance transmission, which improved the dexterity of the surgical instrument working in narrow space. Mechanism principle and dimensional synthesis including the wrist, grasper and shaft rolling were described. Working principle of the cable-capstan transmission mechanism and kinematic coupling between the wrist and grasper were analyzed. Kinematic characteristic of the surgical instrument including forward kinematics, working space analysis, Jacobian transformation, and singularity analysis were described. A prototype of the surgical instrument and driving platform testing shows that the instrument prototype can be applied in most MIS operations.
| Translated title of the contribution | Mechanism synthesis and kinematic analysis of 4-DOF minimally invasive surgical instrument |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 1119-1126 |
| Number of pages | 8 |
| Journal | Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) |
| Volume | 56 |
| Issue number | 6 |
| DOIs | |
| State | Published - Jun 2022 |
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