一种新型线驱动手术软体机器人

doi:10.1007/s12204-022-2497-3

J Shanghai Jiaotong Univ Sci ›› 2024, Vol. 29 ›› Issue (1): 60-72.doi: 10.1007/s12204-022-2497-3

一种新型线驱动手术软体机器人

李茹1，陈方2，俞文伟3，IGARASH Tatsuo3,4，舒雄鹏1，谢叻1,5,6

（1.上海交通大学材料科学与工程学院塑性成形技术与装备研究院，上海 200030；2. 上海交通大学附属第六人民医院，上海 200233；3. 千叶大学前沿医学工程研究中心，日本千叶 263-8522；4. Seirei Sakura市民医院，日本千叶 285-8765；5. 上海交通大学医疗机器人研究院，上海 200030；6. 泉州师范学院数学与计算机科学学院，福建泉州 362000）

接受日期:2021-12-20 出版日期:2024-01-28 发布日期:2024-01-24

A Novel Cable-Driven Soft Robot for Surgery

LI Ru¹ (李茹), CHEN Fang² (陈方), YU Wenwei³ (俞文伟), IGARASH Tatsuo^3,4, SHU Xiongpeng¹ (舒雄鹏), XIE Le^1,5,6∗(谢叻)

(1. Institute of Forming Technology and Equipment, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200030, China; 2. The Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University, Shanghai 200233, China; 3. Center for Frontier Medical Engineering, Chiba University, Chiba 263-8522, Japan; 4. Seirei Sakura Citizen Hospital, Chiba 285-8765, Japan; 5. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200030, China; 6. School of Mathematics and Computer Science, Quanzhou Normal University, Quanzhou 362000, Fujian, China)

Accepted:2021-12-20 Online:2024-01-28 Published:2024-01-24

摘要/Abstract

摘要： 机器人辅助腹腔镜根治性前列腺切除术（RARP）广泛应用于前列腺癌的治疗。RARP中主要使用的刚性器械不能克服手术中盲区问题，导致更多创伤，如器械通过时需要更多切口和刚性器械造成额外组织损伤。软体机器人相对灵活，理论上具有无限自由度，可以克服刚性仪器的问题。本文研制了一种单孔经膀胱机器人辅助根治性前列腺切除术（STvRARP）系统。该柔性机械手直径为10 mm，最大弯曲角度为270°，具有良好的灵活性和灵巧性。本文介绍了软体机器人的设计和机械结构。根据所设计的柔性机械臂特点，建立了柔性机械臂的运动学模型，并进行了逆运动学补偿。建立了手术软体机器人主从控制系统，验证了所设计的手术软体机器人的可行性。

关键词: 软体机器人，运动学模型，机器人辅助手术

Abstract: Robot-assisted laparoscopic radical prostatectomy (RARP) is widely used to treat prostate cancer. The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments. Soft robots are relatively flexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument. A soft robot system for single-port transvesical robot-assisted radical prostatectomy (STvRARP) is developed in this study. The soft manipulator with 10 mm in diameter and a maximum bending angle of 270? has good flexibility and dexterity. The design and mechanical structure of the soft robot are described. The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator. The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.

Key words: soft robot, kinematics model, robot-assisted surgery

中图分类号:

李茹1，陈方2，俞文伟3，IGARASH Tatsuo3,4，舒雄鹏1，谢叻1,5,6. 一种新型线驱动手术软体机器人[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(1): 60-72.

LI Ru1 (李茹), CHEN Fang2 (陈方), YU Wenwei3 (俞文伟), IGARASH Tatsuo3,4, SHU Xiongpeng1 (舒雄鹏), XIE Le1,5,6∗ (谢叻). A Novel Cable-Driven Soft Robot for Surgery[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(1): 60-72.

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一种新型线驱动手术软体机器人

A Novel Cable-Driven Soft Robot for Surgery

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