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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Realization of a Robotic Manipulator for Minimally Invasive Surgery With Replaceable Surgical Tools
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Design and Realization of a Robotic Manipulator for Minimally Invasive Surgery With Replaceable Surgical Tools

机译：用于更换外科手术的微创手术的机器人操纵器的设计与实现

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摘要

Minimally invasive surgery is a useful but challenging surgical technique. Several robotic manipulators have been realized in the past three decades to overcome its difficulties. However, a majority of these manipulators lack two important features. First, the ability to provide a right-angled tool entry (with respect to the surrounding skin tissue) for entry-ports located on the far-side of the patient's body, and second, rapid change of the surgical tools. To solve these issues, this article presents synthesis of a new surgical manipulator that ensures a right-angled tool entry—in order to reduce postoperative pain in the patient's skin tissue—through its novel design. We describe the design, perform kinematic analysis, and validate the robotic manipulator's ability to maintain a remote center of motion. The proposed manipulator is equipped with a quick-release mechanism to facilitate rapid change of the surgical instruments during robot-assisted surgery. Contrary to the state-of-the-art, the proposed manipulator does not require extra passive arms to provide a proper tool entry-angle. The manipulator's performance is experimentally evaluated by performing tool-insertion, pegs-transfer, and path-following tasks in a master–slave teleoperation setting. It is demonstrated that the manipulator can perform basic surgical tasks, such as pick-and-place and object manipulation, with a high success rate.
机译：微创手术是一种有用而挑战的手术技术。在过去的三十年里，几个机器人操纵器已经实现了克服其困难。然而，大多数这些操纵者缺乏两个重要特征。首先，能够为位于患者身体的远端的入口端口提供右侧角度的工具条目（相对于周围的皮肤组织），并第二，外科手术工具的快速变化。为了解决这些问题，本文介绍了一种新的手术机械手的合成，可确保右倾角的工具进入 - 以减少患者皮肤组织的术后疼痛 - 通过其新颖的设计。我们描述了设计，执行运动学分析，并验证了机器人操纵器维护遥控器的能力。所提出的操纵器配备了快速释放机构，以便于机器人辅助手术期间的手术器械的快速变化。与现有技术相反，所提出的操纵器不需要额外的被动臂以提供适当的刀具入口角度。通过在主从电信局部设置中执行工具插入，钉印和路径之后的任务，通过执行工具插入，PEGS传输和路径之后的任务来实验评估机械手的性能。据证明操纵器可以具有高成功率的基本外科任务，例如拾取和放置和物体操纵。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2020年第6期|2754-2764|共11页
  • 作者

    Sajid Nisar; Asad Hameed; Nabeel Kamal; Osman Hasan; Fumitoshi Matsuno;

  • 作者单位

    Department of Mechanical and Electrical Systems Engineering Kyoto University of Advanced Science Kyoto Japan;

    School of Electrical Engineering and Computer Science National University of Sciences and Technology Islamabad Pakistan;

    School of Electrical Engineering and Computer Science National University of Sciences and Technology Islamabad Pakistan;

    School of Electrical Engineering and Computer Science National University of Sciences and Technology Islamabad Pakistan;

    Department of Mechanical Engineering and Science Kyoto University Kyoto Japan;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Tools; Manipulators; Surgery; Pain; Kinematics; Hardware;

    机译：工具;操纵器;手术;疼痛;运动学;硬件;

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