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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science >Piezoelectric transducer design for an ultrasonic scalpel with enhanced dexterity for minimally invasive surgical robots
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Piezoelectric transducer design for an ultrasonic scalpel with enhanced dexterity for minimally invasive surgical robots

机译：用于超声波皮划型的压电传感器设计，具有增强的灵活性，用于微创手术机器人

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摘要

Ultrasonic scalpel offers the advantages of reliable and simultaneous vessel cutting and sealing and provide self-cleaning capacity with less thermal damage and smoke. However, the current long, straight, and rigid ultrasonic scalpels have limited degrees of freedom, which restricts the operation dexterity of the minimally invasive surgical robot. To address such problem, a novel design of a minimized piezoelectric transducer that can be integrated at the distal end of a multi-degrees of freedom robotic instrument, has been proposed and implemented in the work. This concept can take full advantage of ultrasonic scalpels while guaranteeing the dexterity of the sufficient robotic operation. By employing the electromechanical equivalent method, the initial dimensional parameters of the ultrasonic transducers have been calculated. The optimal transducer design has been achieved by utilizing the proposed optimization method, which is based on finite element method, design of experiment, response surface method, and multi-objective genetic algorithm. The transducer prototype was manufactured, and its dynamic characteristics were further investigated by using impedance analyzer. The results reveal that the actual features of the transducer closely match the finite element method-based simulation results. In-vitro experiments have been performed to show that the vibration amplitude and frequency can meet the requirements for dissection and coagulation of tissues.
机译：超声波手术刀提供可靠且同时船舶切割和密封的优点，并提供较少的热损坏和烟雾的自清洁能力。然而，目前的长，直线和刚性的超声波标制具有有限的自由度，其限制了微创手术机器人的操作灵活性。为了解决这样的问题，已经提出并在工作中提出并实施了可以集成在多程度的自由度机器人仪器的远端的最小化压电换能器的新颖设计。这一概念可以充分利用超声波的手术刀，同时保证足够的机器人操作的灵活性。通过采用机电等效方法，已经计算了超声换能器的初始尺寸参数。通过利用所提出的优化方法，实现了基于有限元方法，实验，响应面法和多目标遗传算法的设计来实现了最佳换能器设计。制造换能器原型，通过使用阻抗分析仪进一步研究其动态特性。结果表明，换能器的实际特征与基于有限元方法的仿真结果密切匹配。已经进行了体外实验，表明振动幅度和频率可以满足组织的解剖和凝结的要求。

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