A Novel Cable-Driven Soft Robot for Surgery

doi:10.1007/s12204-022-2497-3

Abstract

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

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

CLC Number:

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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