微创食管缝合器的运动学与动力学分析研究  

Analysis of Kinematics and Dynamics for Esophageal Purse- string Suture Instrument in Minimal Invasive Surgery

作　　者：程云章[1] 谭启路 宋成立[1] 徐兆红[1] 

机构地区：[1]上海理工大学医疗器械与食品学院,上海200093

出　　处：《生物医学工程学进展》2015年第3期127-131,172,共6页Progress in Biomedical Engineering

摘　　要：提出了一种新型的应用于食管空肠吻合术的微创食管缝合器的机械结构,并应用D-H坐标系法和基于旋量理论的Kane方程分别进行了运动学仿真和动力学分析。运动学仿真表明,微创食管缝合器定夹钳在初始状态和定位状态之间时,具有一个自由度,满足机构运动的条件。动力学分析表明,为保证微创食管缝合器的运动平稳,驱动力能够满足临床力学传递要求。We proposed a structure of a new type of esophageal purse- string suture instrument with the application in a minimal invasive surgery（ MIS） called esophagojejunostomy. In addition,we performed kinematic simulation and dynamics analysis with D- H coordinate and Kane＇s equation based on the screw theory. According to the kinematic simulation,the esophageal purse- string suture instrument has one degree of freedom（ DOF）when the fixed clip lies between initial state and positioning state,which satisfies the conditions of mechanism motion. According to the dynamic analysis,for smooth movement of this esophageal purse- string suture instrument,the driving force meets the demands in terms of clinical mechanics.

关 键 词：微创食管吻合器 多自由度器械 运动学 动力学 

分 类 号：TH785.5[机械工程—仪器科学与技术]