基于柔索驱动的手术微器械设计与仿真分析

Design and simulation analysis of surgical micro-instrument based on flexible cable actuation

目的:为了解决传统手术微器械自身影响微创外科手术精准操作的问题,设计一种基于柔索驱动的手术微器械并进行仿真分析。方法:首先,基于弹性元件和柔索驱动对手术微器械进行构型设计,并对柔索的布局进行设计,优化柔索传动方式。其次,基于D-H法构建手术微器械的正逆运动学模型,利用MATLAB进行模型验证,并对手术微器械的工作空间和奇异形位进行分析。最后,结合软组织力学响应对手术微器械进行多工况的动力学仿真分析,并对器械-组织交互力对关节驱动力矩的影响敏感性进行分析。结果:经分析,构建的正逆运动学模型正确,工作空间和奇异形位满足手术需求,而且关节驱动力矩对器械-组织交互力是敏感的。结论:设计的手术微器械保证了柔索张紧状态,可满足实际微创手术精准操作的需要。

Objective To design a surgical micro-instrument based on flexible cable actuation and perform simulation analysis to eliminate the influences of the traditional surgical instruments on the precise operation of minimally invasive surgical procedures.Methods Firstly,the configuration design of the surgical micro-instrument was implemented based on the elastic element and flexible cable actuation,and the layout of the flexible cable was determined to optimize the flexible cable transmission mode.Secondly,the forward and inverse kinematic model of the surgical micro-instrument was constructed based on D-H method and then validated using MATLAB,and the workspace and singular shapes of the surgical micro-instrument were analysed.Finally,multi-case kinetic simulation analysis of the surgical micro-instrument was performed in conjunction with soft-tissue mechanical response,and sensitivity analysis of the effect of instrument-tissue interaction forces on joint driving torque was carried out.Results The surgical micro-instrument developed gained advantages in the accuracy of the forward and inverse kinematic model,the workspace and singular shapes for meeting surgical requirements and the sensitivity of joint driving torque for instrument-tissue interaction forces.Conclusion The surgical micro-instrument designed keeps the flexible cable in a tension state so as to satisfy the requirements for precision manipulation during actual minimally invasive surgery.