新型机器人辅助微创手术系统分析

Research of A New Robot Assistant MIS System

为解决现有机器人辅助微创手术系统的力反馈难题,在对开口手术、手工微创手术、机器人微创手术工作空间、自由度、运动映射关系等特性进行对比分析基础上,通过对现场医生和控制台医生的重新分工,提出一种新型的机器人辅助微创手术系统。针对该系统设计了一种新型丝传动微创手术机构。该机构采用对称式结构,通过丝传动实现对称位置机构的镜向运动映射、对称姿态机构的中心运动映射,从而实现微创手术工具手柄与末端执行器之间的一致运动映射。该机构不仅能够保证系统操作的直观性,而且可实现系统的力反馈功能。

In order to solve the force feedback problem of MIS robot, through comparative analysis of workspace, degree of freedom （DOF） and motion mapping relationship of the open surgery, the manual MIS and the robotic MIS, a new scheme of robot assistant MIS system was figured out based on re-division of work of console surgeon and site surgeon. According to the new scheme, a new symmetric cable-driven MIS mechanism was designed. The symmetry structure and cable-driven design realized specula symmetry mapping of the position mechanism and central symmetry mapping of the attitude mechanism, which realized the consistent motion mapping of the handle and surgical scissors. The symmetric cable-driven MIS mechanism could not only improve the intuitive operation of MIS but also realize force feedback of MIS robot.