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首页> 外文会议>World Congress on Medical Physics and Biomedical Engineering >Workspace optimization of a surgical instrument for single port access surgery
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Workspace optimization of a surgical instrument for single port access surgery

机译：单港接入手术手术器械的工作区优化

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Instruments for laparoscopic single port access surgery have to perforin specific movements inside the human abdomen to enable surgeons to perform similar tasks they are familiar with from multi-port minimally invasive surgery. Therefore, these instruments have to move apart before coming together at the surgical site to imitate an anthropomorphic position similar to standard access, thus facilitating handling at the desired target. These movements require additional joints. These joints weaken an instrument's shaft structure and often lead to reduced strength, whereas parallel structures reduce workspace. Hence, instruments with a segmented planar hybrid parallel-serial mechanism have been developed, combining the advantages of both structures. This mechanism is coupled serially with an end-effector. Within a set of several geometric parameters and boundaries, the favored mechanism is optimized by varying the segments' lengths for maximizing a so-called area of dexterity comprising all points that can be reached within an angular range of at least 60°. This area can be described in a cylindrical coordinate system in a phase space composed of the radial tool tip position and its inclination. The different movements of the mechanism and the end-effector are superposed and the phase space is analyzed using image evaluation methods. The optimized dexterous workspace by far exceeds a previously defined area of interest that was determined during in-vivo tests. The instruments based on this optimization proved to be agile in several tests like pick-and-place tasks.
机译：腹腔镜单端口接入手术的仪器必须在人腹部内穿过特定的特定运动，使外科医生能够执行与多端口微创手术熟悉的类似任务。因此，这些仪器必须在手术部位一起进入外科部位以模仿类似于标准通道的人拟立体位置，从而促进所需目标的处理。这些运动需要额外的关节。这些关节削弱了仪器的轴结构，并且通常导致强度降低，而平行结构减少了工作区。因此，已经开发出具有分段的平面混合并联串行机构的仪器，组合了两个结构的优点。该机制串联耦合，末端效应器。在一组几何参数和边界内，通过改变段的长度来最大化所谓的灵活性的段长度来优化，包括可以在至少60°的角度范围内达到的所谓的灵活性。该区域可以在由径向工具尖端位置及其倾斜度组成的相空间中的圆柱坐标系中描述。机构和末端效应器的不同运动叠加，使用图像评估方法分析相空间。远远超过Vivo测试期间确定的先前定义了令人利益区域的优化的令牌工作空间。基于此优化的仪器证明是在拾取和放置任务等几次测试中的敏捷。

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