一种临床微创手术用刚性可控机械手设计与研究

Design and Study of a Kind of Rigid Controllable Manipulator Tube for Clinical Minimally Invasive Surgery

目的设计一种微创手术中刚性可控机械手结构并进行应力分析。方法采用薄膜覆盖编织管的内外表面,形成管状密封腔,从而构成刚度可调的新型折叠结构机械手,为评估机械手密封管的弯曲刚度,分别对物理试样进行了纯弯曲实验、有限元Abaqus/Explicit数值模拟以及综合分析。结果通过有限元数值分析,结果表明,刚性状态中获得了测量曲率半径ρ=136.17 mm的近似纯弯曲,柔性状态中曲率半径为ρ=144.36 mm。综合分析结果显示,刚性状态实验力矩为136.21 Nmm,柔性力矩为19.91 Nmm。结论刚性状态下,编织管在骨架上紧密压缩,密封管的变形模式不会受到显著影响,仍可以正常工作。变形构型和力矩曲线与相应的实验结果显示出相同的趋势,验证了设计的新型机械手及其密封管的有效性及实用性,该设备可为微创手术机械手设计及应用提供一定借鉴作用,具有一定推广价值。

Objective To explore the structural design and stress analysis of rigid controllable manipulator in minimally invasive surgery.Methods The membrane was used to cover the inner and outer surfaces of the braided tube to form a tubular seal chamber,thus forming a new folding structure manipulator with adjustable stiffness.In order to evaluate the bending stiffness of the sealed tubes of the manipulator,pure bending experiments,Abaqus/Explicit numerical simulation and comprehensive analysis were carried out on physical samples.Results Through finite element numerical analysis,the results showed that the measured curvature radius is obtained in the rigid stateρ=136.17 mm approximate pure bending,the radius of curvature in the flexible state wasρ=144.36 mm.The comprehensive analysis results showed that the experimental moment in rigid state was 135.21 Nmm,and the flexible moment was 19.91 Nmm.Conclusion Under the rigid state,the braided tube is tightly compressed on the framework,and the deformation mode of the seal tube is not significantly affected,and it can still work normally.The deformation configuration and torque curve obtained by numerical calculation show the same trend and verify the design of a new type of manipulator and its sealing tube is effective and practical,the equipment for minimally invasive surgery robot hand can be used as a reference for design and application,has certain promotion value.