一种力感知型手术器械驱动装置的设计与实现

Design and implementation of force sensing and driving device for surgical instruments

为了增强医生手术操作的临场感,设计了一种力感知型手术器械驱动装置,在非常紧凑的空间内同时实现了手术器械旋转、俯仰、偏航和开合4自由度的传动和力感知功能.对力感知组件中关键组件弹性变形体的三种结构设计方案进行对比与优化,确定了一种可行且易于加工的弹性变形体结构,并试制了力感知手术器械驱动装置样机;提出了一种通过惠斯通电桥间接测量该变形体变形来测量力/力矩的方案,根据应变片阻值变化测量手术器械各自由度力/力矩,实验验证了弹性体设计方案简单可行.提出的力感知型手术器械驱动模块具有成本低、运动灵活、力测量精度适中且易于消毒的特点.

In order to improve the physician;s sense of operation in the surgery process,the research on surgical instruments with force sensing function is one hot topic of minimally invasive surgical robots.A novel force sensing and driving device for surgical instruments was proposed,which can realize the driving and force sensing function of roll,pitch,yaw and clamp 4DOF of surgical instrument in a very compact space.By comparing and optimizing the three structural design schemes of elastic deformable part,a feasible and easy-to-manufacture structure of elastic deformable part was determined,and a prototype of force sensing and driving device for surgical instruments was manufactured.The 4DOF force/moment were measured indirectly from the deformation of the elastic deformable part through a Wheatstone bridge according to the change of resistance value of strain gauges.The experiments show that the proposed mechanical design and force measurement methods are simple and feasible.The force sensing and driving device for surgical instruments proposed has the characteristics of low cost,flexible movement,moderate force measurement accuracy,and easy to sterilize.