一个基于连续体机器人的黏膜切开刀

A Electrosurgical Knife Based on Continuum Robot

本文展示了一种多自由度黏膜切开刀的开发,该切开刀具有4个自由度,包括三个空间位置自由度和一个刀头伸缩自由度,能够通过6自由度主手进行主从控制。着重阐述了切开刀的结构设计及运动学算法的开发,并通过主从控制进行切开刀的运动验证,以及切割效果的初期实验验证。通过实现以上功能,证明该切开刀能够在手术时对黏膜进行灵活地切割,进而能够作为经自然腔道手术(NOTES:Natural Orifce Transluminal Endoscopic Surgery)的核心工具。

This paper demonstrates the development of a robotic electrosurgical knife for submucosal dissection.This tool is designed with 4DOF,including 3 translational DOFs for the motion of the knife and 1 translational DOF for feeding the tip of the knife,and is capable of being teleoperated by a 6DOF master manipulator.Mechanical design,kinematics of this electrosurgical knife was illustrated,followed by preliminary experimental validations of the master-slave control and the cutting experiment of the knife.Through the above work,it can be seen that this electrosurgical knife is flexible and capable of performing cutting effectively.Therefore,it can play an important role in Natural Orifce Transluminal Endoscopic Surgery(NOTES)in the future.