A Novel Cable-Driven Soft Robot for Surgery  

作　　者：李茹 陈方 俞文伟 IGARASH Tatsuo 舒雄鹏 谢叻 LI Ru;CHEN Fang;YU Wenwei;IGARASH Tatsuo;SHU Xiongpeng;XIE Le(Institute of Forming Technology and Equipment,School of Materials Science and Engineering,Shanghai Jiao Tong University,Shanghai 200030,China;The Sixth People's Hospital Affiliated to Shanghai Jiao Tong University,Shanghai 200233,China;Center for Frontier Medical Engineering,Chiba University,Chiba 263-8522,Japan;Seirei Sakura Citizen Hospital,Chiba 285-8765,Japan;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200030,China;School of Mathematics and Computer Science,Quanzhou Normal University,Quanzhou 362000,Fujian,China)

机构地区：[1]Institute of Forming Technology and Equipment,School of Materials Science and Engineering,Shanghai Jiao Tong University,Shanghai 200030,China [2]The Sixth People's Hospital Affiliated to Shanghai Jiao Tong University,Shanghai 200233,China [3]Center for Frontier Medical Engineering,Chiba University,Chiba 263-8522,Japan [4]Seirei Sakura Citizen Hospital,Chiba 285-8765,Japan [5]Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200030,China [6]School of Mathematics and Computer Science,Quanzhou Normal University,Quanzhou 362000,Fujian,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第1期60-72,共13页上海交通大学学报（英文版）

基　　金：the National Natural Science Foundation of China(Nos.62133009,61973211,51911540479 and M-0221);the Project of the Science and Technology Commission of Shanghai Municipality(No.21550714200);the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong University,the Foreign Cooperation Project of Fujian Science and Technology Plan(No.202210041);the Quanzhou High-Level Talent Innovation and Entrepreneurship Project(No.2021C003R)。

摘　　要：Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments.Soft robots are relatively fexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument.A soft robot system for single-port transvesical robot-assisted radical prostatectomy(STvRARP)is developed in this study.The soft manipulator with 10 mm in diameter and a maximum bending angle of 270°has good fexibility and dexterity.The design and mechanical structure of the soft robot are described.The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator.The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.

关 键 词：soft robot kinematics model robot-assisted surgery 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R737.25[自动化与计算机技术—控制科学与工程]