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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design Concept of Hybrid Instrument for Laparoscopic Surgery and Its Verification Using Scale Model Test
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Design Concept of Hybrid Instrument for Laparoscopic Surgery and Its Verification Using Scale Model Test

机译：腹腔镜手术混合器械的设计理念及其规模模型验证

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摘要

This paper proposes a new design concept of hybrid instrument for single-port laparoscopic surgery (SPLS) and a new method of verification using a scaled-up prototype based on the principle of elastic similarity. The proposed concept is a hand-held instrument that uses a tendon-gear mechanism for dexterous movement of its end-effector and servomotors with flexible tendon-sheath transmission to maintain the dexterity by compensating the loss of output angle from tendon elongation during the manual operation. The kinematic relationship of the tendon-gear mechanism was derived mathematically, and the ratio of external moment to resistive flexural stiffness of the articulating joint was matched between the real-sized model and the large-scale prototype. Our scale model tests have shown good agreement between their input–output relationships under the equivalent loading conditions, and thus verified the validity of similarity analysis. Also, the proof-of-concept experiments have demonstrated the functionality of output loss compensation of the hybrid instrument. Our methodology can be used to simplify and speed up the prototype development process for SPLS by avoiding miniaturization challenges such as high precision manufacturing, which is costly and time-consuming.
机译：本文提出了一种用于单端口腹腔镜手术（SPLS）的混合器械的新设计概念，并提出了一种基于弹性相似性原理的按比例放大原型进行验证的新方法。提出的概念是一种手持仪器，该仪器使用腱齿轮机构进行末端执行器的灵巧运动，并且伺服电机具有灵活的腱鞘传输功能，可通过补偿手动操作过程中由于腱伸长造成的输出角度损失来保持灵活性。通过数学推导得出了齿轮-齿轮机构的运动学关系，并在实际模型和大型原型之间匹配了外力矩与关节的抵抗弯曲刚度之比。我们的规模模型测试显示了在等效载荷条件下它们的输入-输出关系之间的良好一致性，从而验证了相似性分析的有效性。此外，概念验证实验还证明了混合动力仪器输出损耗补偿的功能。通过避免小型化挑战（如高精度制造，这既昂贵又费时），我们的方法可用于简化和加快SPLS的原型开发过程。

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