Design and validation a minimally invasive robotic surgical instrument with decoupled pose and multi-DOF.
Decoupled pose
Instrument
Mapping algorithm
Surgical robot
Journal
Journal of robotic surgery
ISSN: 1863-2491
Titre abrégé: J Robot Surg
Pays: England
ID NLM: 101300401
Informations de publication
Date de publication:
07 Aug 2024
07 Aug 2024
Historique:
received:
13
06
2024
accepted:
30
07
2024
medline:
7
8
2024
pubmed:
7
8
2024
entrez:
7
8
2024
Statut:
epublish
Résumé
High-performance miniature surgical instruments play an important role in complicated minimally invasive surgery (MIS). Based on in-depth analysis of the requirements of MIS and the characteristics of the existing minimally invasive surgical instruments, a multiple degrees of freedom (DOF) robotic surgical instrument with decoupled pose was proposed. Firstly, the design concept of the pose decoupling instrument was described in detail, and its physical structure, transmission structure, and mechanical properties were designed and analyzed. A surgical instrument control algorithm based on the master-slave mode was established. Finally, a physical prototype was developed, and its motion ranges of joints, load capacity, and suture operation performance were comprehensively evaluated, which confirmed the effectiveness of the proposed minimally invasive robotic surgical instrument.
Identifiants
pubmed: 39110315
doi: 10.1007/s11701-024-02072-9
pii: 10.1007/s11701-024-02072-9
doi:
Types de publication
Journal Article
Validation Study
Langues
eng
Sous-ensembles de citation
IM
Pagination
312Subventions
Organisme : National Natural Science Foundation of China
ID : 52122501
Organisme : National Natural Science Foundation of China
ID : 52122501
Organisme : National Natural Science Foundation of China
ID : 52122501
Organisme : National Natural Science Foundation of China
ID : 52122501
Organisme : National Natural Science Foundation of China
ID : 52122501
Informations de copyright
© 2024. The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature.
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