A Survey of Transoral Robotic Mechanisms:Distal Dexterity,Variable Stiffness,and Triangulation  

作　　者：Xiaoyi Gu Hongliang Ren 

机构地区：[1]Department of Electronic Engineering,The Chinese University of Hong Kong,Hong Kong,China [2]Suzhou ACTORS Medtech Co.,Ltd,Suzhou,Jiangsu,China

出　　处：《Cyborg and Bionic Systems》2023年第1期474-493,共20页类生命系统（英文）

基　　金：funded by the National Key R&D Program of China under Grant 2018YFB1307700(with subprogram 2018YFB1307703)from the Ministry of Science and Technology of China;the Key Project under Grant 2021B1515120035 of the Regional Joint Fund Project of the Basic and Applied Research Fund of Guangdong Province,Singapore Academic Research Fund under Grant R397000353114,Hong Kong Research Grants Council(RGC)Collaborative Re search Fund under Grant CRF C4026-21GF,General Research Fund(GRF 14216022);Shenzhen-Hong Kong-Macao Technology Research Programme(Type C)under Grant 202108233000303。

摘　　要：Robot-assisted technologies are being investigated to overcome the limitations of the current solutions for transoral surgeries,which suffer from constrained insertion ports,lengthy and indirect passageways,and narrow anatomical structures.This paper reviews distal dexterity mechanisms,variable stiffness mechanisms,and triangulation mechanisms,which are closely related to the specific technical challenges of transoral robotic surgery(TORS).According to the structure features in moving and orienting end effectors,the distal dexterity designs can be classified into 4 categories:serial mechanism,continuum mechanism,parallel mechanism,and hybrid mechanism.To ensure adequate adaptability,conformability,and safety,surgical robots must have high flexibility,which can be achieved by varying the stiffness.Variable stiffness(VS)mechanisms based on their working principles in TORS include phase-transitionbased VS mechanism,jamming-based VS mechanism,and structure-based VS mechanism.Triangulations aim to obtain enough workspace and create adequate traction and counter traction for various operations,including visualization,retraction,dissection,and suturing,with independently controllable manipulators.The merits and demerits of these designs are discussed to provide a reference for developing new surgical robotic systems(SRSs)capable of overcoming the limitations of existing systems and addressing challenges imposed by TORS procedures.

关 键 词：STIFFNESS TRACTION Dexter 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]