微创手术钳柔顺拓扑优化设计  

Compliant Topology Optimization Design of Minimally Invasive Surgical Grasper

作　　者：赵爽[1,2] 苗玉彬[1] 罗云[1] ZHAO Shuang;MIAO Yubin;LUO Yun(School of mechanical engineering,Shanghai Jiao Tong University,Shanghai 200240,China;School of mechanical engineering,Shanghai Dian Ji University,Shanghai 201306,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]上海电机学院机械学院,上海201306

出　　处：《东华大学学报（自然科学版）》2018年第4期508-512,共5页Journal of Donghua University(Natural Science)

基　　金：国家自然科学基金资助项目(51075263)

摘　　要：传统的微创手术钳是带有运动副的刚性构件,结构复杂且夹持力呈非线性变化,容易造成器官组织过压损伤。基于免装配的柔顺连续体拓扑设计,以柔性部件的整体弯曲作为目标函数,以保持有效夹持刚度作为附加约束条件,建立双工况优化模型。基于变密度插值模型和优化准则方法进行迭代求解,得到较为理想的手术钳柔性拓扑结构,并对优化后结构进行有限元数值分析。结果表明,钳头结构末端的最大位移和夹持刚度均满足手术钳使用要求,且具有力-位移线性响应关系。该研究简化了手术钳结构,有利于改善操作手感和夹持效果,为拓展柔顺机构在微创手术临床实践中的应用提供了思路。The traditional minimally invasive surgical grasper is a rigid component with a joint,and itsstructure is complex as well as the non-linear clamping force, easily leading to over-pressure injury.Based on theassembly-freecompliant continuum topology design,the overall bending of the flexible componentswas takenas theobjectivefunction,and the main tained effec tive clamping s tiffness as an additional cons t rain t to es tablish a double-duty op timiza tion model. The model was itera ted based on thevariable densit y interpolation model and optimization criteria method,a more ideal surgical clampflexible topologywasobtained. Then the finite elemen t analysis was made to analyze the op timized structure. The results show that the maximal displacement and the clamping s tiffness of the clamp headmeet the requirements of the grasper and have a force-displacement linear response. This study simplifiesthe structure of the grasper which is beneficial to improve the operation feeling and clamping effect, and provide ideas for expanding the application of compliant mechanism in the cliinvasive surgery.Key words

关 键 词：微创手术钳 柔顺机构 拓扑优化 变密度插值 夹持刚度 

分 类 号：R318[医药卫生—生物医学工程]