Design and implementation of a surgical instrument for minimally invasive celiac surgical robots based on steel wire transmission

In order to improve the operation flexibility of a celiac minimally invasive surgery robot, a new surgical instrument for minimally invasion surgery is prestented, which is used to do the surgical operations such as gripping, suturing and picking up tissues or organs. The mechanism design of the instrument was based on steel wire transmission, the Pro/E software was used to model the surgical instrument and the model was imported into the Recurdyn software for the instrument's simulation and performance analysis. The kinematics analysis of the surgical instrument and the end effector for holding the surgical instrument was conducted by using the D-H method, and the control scheme was proposed and realized in view of the kinematics characteristics of the surgical instrument and the Force Dimension Omega master. Finally, the performance of the surgical instrument was tested by its prototypic experiments. The experimental results show that the designed surgical instrument can achieve the 4-DOF movement and complete various surgical operations well and meet the demands of the celiac minimally invasive surgery.