一种具有柔性腕部的新型微创手术工具的设计  

Design of a Novel Surgery Instrument with a Flexible Wrist for Minimally Invasive Surgery

作　　者：张健[1] 李进华[1] 李建民[1] 孔康[1] 崔梦超[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械科学与技术》2016年第8期1162-1168,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51275335);国家高技术研究发展计划(863计划)项目(2012AA041606;2012AA041602)资助

摘　　要：针对微创手术实际需求,提出了一种具有柔性腕部的新型微创手术工具的原理方案,并开展了相应的结构分析与性能优化的研究工作。详细阐述了一种用作工具腕部的两自由度柔性结构和刚性驱动结构的设计方法,并依据驱动钢丝长度的变化量关系,通过数学建模、编程计算等方法构建出柔性腕部结构与刚性驱动结构之间的映射模型。最后,对工具整体进行了结构与尺寸参数优化,并通过基于原型样机的实验研究与性能测试,验证了该微创手术工具结构方案的可行性。To meet the requirements of minimally invasive surgery,the conceptual design of a novel surgery instrument with a flexible wrist is presented and the appropriate structural design and performance optimization studies are carried out. A flexible wrist with two degrees of freedom and a rigid driver platform are designed.According to the length variation of steel wire,we present the mapping model between the flexible wrist and the rigid driver platform by mathematical modeling and programming calculation. Finally,the overall structure and size parameters of the instrument are optimized. The experimental studies and performance tests based on the prototype verify the feasibility of the design procedure of the instrument.

关 键 词：微创手术 柔性腕部 手术工具 结构设计 

分 类 号：TK241.3[动力工程及工程热物理—动力机械及工程]