腹腔镜手术机器人操作疲劳研究指导下的主手台改进设计

Design improvement of MIS surgical robot’s main handstand according to research on operational fatigue

为探究术者在使用腹腔镜机器人的手术中操作器械时造成疲劳的主要肌肉因素,运用Noraxon采集系统获取三角肌、肱二头肌、肱桡肌等3块测试肌肉的表面肌电信号,利用平均功率频率(MPF)等频域指标的1阶拟合线斜率对肌肉疲劳进行评估及差异分析。利用试验结果建立正交试验模型,通过方差分析得出不同肌肉疲劳及其交互作用与测试者主观疲劳感受的关联度。结果表明,进行腹腔镜手术操作时,测试者由于三角肌的肌肉疲劳而产生的疲劳感最为显著。进而,依据三角肌部位疲劳参数,重点进行主手台防护设计。经试验验证,垫板与水平主手台夹角为30°时,三角肌疲劳改善效果最好,文中疲劳研究的内容可为医疗机器人优化设计提供探索方法和依据。

In this article,in order to explore the fatigue-induced muscular factors during the operation with MIS surgical robots,the Noraxon acquisition system is worked out to collect the surface electromyogram of three muscles,namely deltoid,biceps and brachioradialis muscles.With the slope of the first-order fitting line of the mean power frequency(MPF)in the frequency domain index,difference of muscle fatigue is explored.The test results are used to set up an orthogonal test model;the correlation between different muscle fatigue and its interaction on one hand and the respondent’s subjective fatigue perception on the other hand is identified by means of the variance analysis.The results indicate that the subjective fatigue caused by the fatigue of the deltoid muscle is the most significant in the MIS operation.According to the fatigue parameters of the deltoid muscle,the main handstand is subject to the protection design.It has been verified by experiments that when the angle between the backing plate and the horizontal main handstand is 30°,the fatigue of the deltoid muscle improves significantly.The study on fatigue provides methods and basis for optimal design of medical robots.