无耦合运动微创手术器械的设计与实验

潘博^1,2, 付宜利¹, 邱雪芹¹, 徐殿国²

(1.哈尔滨工业大学 机器人技术与系统国家重点实验室, 150080 哈尔滨; 2.哈尔滨工业大学 电气工程及自动化学院,150001 哈尔滨)



摘要:

为增加微创手术器械操作的灵活性,提高主从操作性能,设计一种新型无耦合运动微创手术器械. 在分析耦合运动产生的原理和现有消除耦合运动方法的基础上,提出一种在腕部传动轴中心打孔走线的微创手术器械设计方法, 研制出具有4个自由度的无耦合手术器械. 该无耦合手术器械采用钢丝进行传动,可实现术中快速更换,并具有使用信息记录功能. 求解手术器械及主手的运动学,研究手术器械主从式控制方法,并建立主从控制实验平台. 实验结果表明：器械腕部单独运动时,器械腕部与两个手指之间位置相对不变,消除了耦合运动,具有较好的主从操作性能,有利于微创手术操作.

关键词:  微创手术  机器人  控制  器械  耦合运动

DOI：10.11918/j.issn.0367-6234.2014.09.004

分类号:TP241

基金项目:国家高技术研究发展计划资助项目(2012AA041601)； 中央高校基本科研业务费专项资助(HIT. NSRIF. 2013052).



Design and experiment of surgical instrument without coupled motions for minimally invasive surgery

PAN Bo^1,2, FU Yili¹, QIU Xueqin¹, XU Dianguo²

(1.State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 Harbin, China; 2.School of Electrical Engineering and Automation, Harbin Institute of Technology, 150001 Harbin, China)

Abstract:

To increase the operation dexterity of surgical instruments in minimally invasive surgery (MIS), and improve manipulation performance of master-slave control, a novel surgical instrument without coupled motions used in MIS is designed. On the basis of analyzing the formation principle of coupled motions and existing methods of coupled motions elimination, a design method that steel wire crosses the centre of wrist shaft in the radial direction for surgical instrument used in MIS is proposed. The developed instrument has four DOFs and is driven by means of steel wire. Besides that, the instrument can realize quick replacement and useful information record as well. After researching kinematics of surgical instrument and master, master-slave control method for surgical instrument is proposed and experiments platform for master-slave control is established. The experimental results indicate that the position of instrument′s wrist in relation to two fingers remains unchanged in the process of surgical instrument's wrist moving individually, which means that the developed surgical instrument eliminates coupled motions and has good manipulation performance in master-slave control. The design method that steel wire crosses the centre of wrist shaft in the radial direction for surgical instrument used in MIS can eliminate coupled motions, and the developed surgical instrument is beneficial to surgical operation in MIS.

Key words:  minimally invasive surgery  robot  control  instrument  coupled motions