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首页> 外文期刊>IEEE transactions on industrial informatics >A Robotic System With Multichannel Flexible Parallel Manipulators for Single Port Access Surgery
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A Robotic System With Multichannel Flexible Parallel Manipulators for Single Port Access Surgery

机译：具有多通道柔性并联机械手的机器人系统，用于单端口访问手术

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Robot-assisted single port access surgery (SPAS) brings significant benefits to the patients. However, it is challenging due to the limited incision size and requirements in precision, load capacity, and dexterity. To address these challenges, this paper presents a multichannel SPAS robotic system consisting of two channels of 5-degree-of-freedom (DOF) flexible manipulators and an endoscope channel. Each channel of the manipulators is designed based on a 3-DOF parallel mechanism with three sets of super-elastic Ni-Ti rods and universal joints. This design optimizes the structure for flexibility and safety considerations with a simplified structure compared with conventional parallel mechanisms. Flexible shafts are used for torque transmission from the actuation unit, allowing the motors to be farther away from the patient-side robotic system. The kinematics of the manipulator is derived, and then the reachable workspace and dexterity are analyzed. Furthermore, a prototype of the proposed robotic system is presented and evaluated through adequate experiments. The flexibility of the manipulator is verified via stiffness characterization test. The results of the accuracy tests confirmed that the robotic system can implement manipulation arm with acceptable accuracy. The feasibility and effectiveness of applying the robotic system to the practical operation are also demonstrated through experimentations.
机译：机器人辅助的单端口进入手术（SPAS）为患者带来了巨大的收益。然而，由于切口尺寸的限制以及对精度，负荷能力和灵活性的要求，这具有挑战性。为了解决这些挑战，本文提出了一种多通道SPAS机器人系统，该系统由两个5自由度（DOF）柔性操纵器通道和一个内窥镜通道组成。机械手的每个通道均基于具有三组超弹性Ni-Ti杆和万向节的3-DOF并联机构进行设计。与常规的并联机构相比，该设计以简化的结构优化了结构的灵活性和安全性。挠性轴用于从执行单元传递扭矩，从而使电机距离患者侧机器人系统更远。推导了机械手的运动学，然后分析了可到达的工作空间和灵活性。此外，提出了机器人系统的原型，并通过充分的实验对其进行了评估。机械手的灵活性通过刚度表征测试得到验证。准确性测试的结果证实，该机器人系统可以以可接受的准确性实施操纵臂。通过实验也证明了将机器人系统应用于实际操作的可行性和有效性。

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