Design and simulation analysis of surgical micro-instrument based on flexible cable actuation
10.19745/j.1003-8868.2023244
- VernacularTitle:基于柔索驱动的手术微器械设计与仿真分析
- Author:
Wei-Fan GAO
1
;
Ming HU
;
Xiao-Qiang SHEN
;
Kai YUAN
;
Jing YANG
Author Information
1. 浙江理工大学机械工程学院,杭州 310018
- Keywords:
flexible cable actuation;
surgical micro-instrument;
kinetic model;
simulation analysis
- From:
Chinese Medical Equipment Journal
2023;44(12):20-24
- CountryChina
- Language:Chinese
-
Abstract:
Objective To design a surgical micro-instrument based on flexible cable actuation and perform simulation analysis to eliminate the influences of the traditional surgical instruments on the precise operation of minimally invasive surgical procedures.Methods Firstly,the configuration design of the surgical micro-instrument was implemented based on the elastic element and flexible cable actuation,and the layout of the flexible cable was determined to optimize the flexible cable transmission mode.Secondly,the forward and inverse kinematic model of the surgical micro-instrument was constructed based on D-H method and then validated using MATLAB,and the workspace and singular shapes of the surgical micro-instrument were analysed.Finally,multi-case kinetic simulation analysis of the surgical micro-instrument was performed in conjunction with soft-tissue mechanical response,and sensitivity analysis of the effect of instrument-tissue interaction forces on joint driving torque was carried out.Results The surgical micro-instrument developed gained advantages in the accuracy of the forward and inverse kinematic model,the workspace and singular shapes for meeting surgical requirements and the sensitivity of joint driving torque for instrument-tissue interaction forces.Conclusion The surgical micro-instrument designed keeps the flexible cable in a tension state so as to satisfy the requirements for precision manipulation during actual minimally invasive surgery.
