机电工程技术2024，Vol.53Issue(2)：84-88,5.DOI:10.3969/j.issn.1009-9492.2024.02.018
腔镜手术器械腕部机构设计与轨迹跟踪
Design of Wrist Mechanism and Trajectory Tracking for Surgical Instruments
摘要
Abstract
The lumpectomy is an emerging surgical procedure,and the traditional lumpectomy instruments produce many problems during the surgery,the main one being the lack of wrist freedom and inflexible movement,which seriously affects the operation of the surgeon during the surgery.To solve the above problems,a two-degree-of-freedom wrist mechanism is designed based on the universal joint components,and a four-degree-of-freedom surgical instrument is proposed.The wrist mechanism takes the human wrist motion range as the reference of the wrist motion range of the instrument,and is driven by a steel wire,which can achieve pitch and yaw in the range of±45°.The wrist trajectory tracking experiment is designed and built,and the wrist trajectory tracking experiment of the surgical instrument is carried out based on the trajectory tracking experiment;the feasibility of the wrist mechanism motion is tested by NDI 3D visual tracking system,and the two degrees of freedom of pitch and yaw are moved up and down between±15° and±30° respectively,and the experimental error is within the acceptable range,which verified the flexibility of the wrist of the instrument to a certain extent.关键词
腔镜手术/手术器械/腕部结构/轨迹跟踪Key words
endoscopic surgery/surgical instruments/wrist structure/trajectory tracking分类
信息技术与安全科学引用本文复制引用
刘新雨,谢燕辉,卓越,陈传宝,王晓,李坤..腔镜手术器械腕部机构设计与轨迹跟踪[J].机电工程技术,2024,53(2):84-88,5.基金项目
山东建筑大学博士科研基金项目(XNBS1619) （XNBS1619）
山东省重点研发计划公益类项目(2019GGX104056) （2019GGX104056）
