TY - GEN
T1 - Design of a novel surgical instrument for minimally invasive robotic surgery
AU - Pan, Bo
AU - Niu, Guojun
AU - Fu, Yili
AU - Xu, Dianguo
AU - Wang, Yongsheng
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of a novel 4DOF dexterous surgical instrument for MIRS is presented. After analyzing feature of surgical instrument for MIRS, a novel 4DOF dexterous surgical instrument based on pulley-tendon mechanism is developed. The end effector of such an instrument is articulated, providing 4DOF without coupled motions. Force limited function is realized by conical axis mechanism, and a new quick change interface is designed based on trapezoidal clutch plate and magnetic sensors to change instruments according to the operation requirement. Strength checking of key parts are also analyzed. The experimental results demonstrate that the proposed surgical instrument can perform 4DOF uncouple motions with 10 mm outer diameter, except that the fast interface meet the fast and reliable requirements. The surgical instrument proposed in this paper has a good motion performance, flexibility and maneuverability. The surgical instrument satisfies the requirements of MIRS, laying a solid technical foundation for clinical application.
AB - Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of a novel 4DOF dexterous surgical instrument for MIRS is presented. After analyzing feature of surgical instrument for MIRS, a novel 4DOF dexterous surgical instrument based on pulley-tendon mechanism is developed. The end effector of such an instrument is articulated, providing 4DOF without coupled motions. Force limited function is realized by conical axis mechanism, and a new quick change interface is designed based on trapezoidal clutch plate and magnetic sensors to change instruments according to the operation requirement. Strength checking of key parts are also analyzed. The experimental results demonstrate that the proposed surgical instrument can perform 4DOF uncouple motions with 10 mm outer diameter, except that the fast interface meet the fast and reliable requirements. The surgical instrument proposed in this paper has a good motion performance, flexibility and maneuverability. The surgical instrument satisfies the requirements of MIRS, laying a solid technical foundation for clinical application.
UR - https://www.scopus.com/pages/publications/84949927388
U2 - 10.1109/ROBIO.2014.7090334
DO - 10.1109/ROBIO.2014.7090334
M3 - 会议稿件
AN - SCOPUS:84949927388
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 223
EP - 228
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -