一次性多用途力反馈穿刺手术机器人  

Versatile and disposable robot for puncture operations with force feedback

作　　者：田佩龙 刘军强[1] 刘建华[2] 池文强 TIAN Peilong;LIU Junqiang;LIU Jianhua;CHI Wenqiang(School of Mechanical and Electrical Engineering,Xi’an Technological University,Xi’an 710021;Research Department of Superconducting Magnets and High Magnetic Field Applications,Institute of Electrical Engineering,Chinese Academy of Sciences,Beijing 100190;Hamlyn Centre,Imperial College,London SW72AZ)

机构地区：[1]西安工业大学机电工程学院,陕西西安710021 [2]中国科学院电工研究所超导磁体及强磁场应用研究部,北京100190 [3]帝国理工学院汉姆林中心,英国伦敦SW72AZ

出　　处：《机械设计》2023年第6期45-51,共7页Journal of Machine Design

基　　金：中国科学院重点部署项目(ZDRW-CN-2021-3)。

摘　　要：针对目前不同的穿刺手术都依赖于医生手动操作器械,并且缺失力反馈及复杂操作器械难以消毒和组装的问题,文中提出了一种可兼容的用于穿刺手术的2自由度力反馈主从穿刺机器人的新方法。机器人主体由递送机构及旋转机构组成,其中,部分零件采用3D打印工艺制造。通过结构设计,建立了机器人模型,完成了主从控制系统工作原理的论述,并且搭建了实验平台。采用不同尺寸穿刺器械在该主从控制系统上模拟了肝部穿刺试验和脑部穿刺试验,验证了系统的控制精度及异常力预警的作用。其中,用Sobel算子边缘检测方法对工业相机采集到的机器人路径与预设路径进行了图像处理分析,采用离体猪组织样品对力反馈进行了测试。研究结果为将来打造低成本、一次性的力反馈穿刺手术机器人奠定了基础。Currently,different puncture operations rely on doctors' manual operation of instruments;besides,there is a lack of force feedback and complex instruments are difficult to disinfect and assemble.In this article,the compatible 2-DOF master-slave robot for puncture operations with force feedback is proposed.The main body of the robot is composed of a delivery mechanism and a rotating mechanism,and some parts are manufactured by 3D printing.Through the structure design,the model of the robot is set up;the master-slave control system is completed and its working principle is discussed;the experimental platform is built.Both the liver puncture experiment and the brain puncture experiment are simulated on the master-slave control system by means of the puncture instruments with different sizes.It is verified that the system has high control precision and better function of abnormal-force warning.The sobel equation edge detection method is used to explore the image processing of the robot path and the preset path collected by the industrial camera,and the force feedback is tested with the ex vivo porcine tissue samples.The results lay a solid foundation for developing low-cost and disposable robots for puncture operations with force feedback in the future.

关 键 词：一次性手术机器人 主从遥操作系统 穿刺手术 力反馈 

分 类 号：TH132[机械工程—机械制造及自动化]