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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2022, Vol. 56 Issue (6): 1119-1126    DOI: 10.3785/j.issn.1008-973X.2022.06.008
    
Mechanism synthesis and kinematic analysis of 4-DOF minimally invasive surgical instrument
Kun LI1(),Ji-hua LI1,Lei LI1,Yue ZHUO1,Bo PAN2,Yi-li FU2
1. School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan 250101, China
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
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Abstract  

Taking the grasper as an example, a 4-DOF minimally invasive surgical (MIS) instrument driven by servo motors and transmitted by cables was designed. Miniaturization design of the end of surgical instrument was driven by cables suitable for long distance transmission, which improved the dexterity of the surgical instrument working in narrow space. Mechanism principle and dimensional synthesis including the wrist, grasper and shaft rolling were described. Working principle of the cable-capstan transmission mechanism and kinematic coupling between the wrist and grasper were analyzed. Kinematic characteristic of the surgical instrument including forward kinematics, working space analysis, Jacobian transformation, and singularity analysis were described. A prototype of the surgical instrument and driving platform testing shows that the instrument prototype can be applied in most MIS operations.

Key words： minimally invasive surgical robot      surgical instrument      mechanism synthesis      kinematic analysis      instrument prototype     
Received: 13 March 2022      Published: 30 June 2022
CLC:  TP 242  
Fund:  山东建筑大学博士科研基金资助项目(XNBS1619)；山东省重点研发计划(公益类)资助项目(2019GGX104056)
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Kun LI
Ji-hua LI
Lei LI
Yue ZHUO
Bo PAN
Yi-li FU
Cite this article:

Kun LI,Ji-hua LI,Lei LI,Yue ZHUO,Bo PAN,Yi-li FU. Mechanism synthesis and kinematic analysis of 4-DOF minimally invasive surgical instrument. Journal of ZheJiang University (Engineering Science), 2022, 56(6): 1119-1126.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2022.06.008     OR     https://www.zjujournals.com/eng/Y2022/V56/I6/1119


四自由度微创手术器械的机构综合及运动学分析

以夹持器为例，设计由伺服电机驱动和钢丝线轮传动的四自由度微创手术器械. 手术器械末端采用微型化设计，以适于远距离传动的钢丝驱动，改善手术器械在狭窄工作空间中的灵活度. 描述手术器械的构型原理和尺度设计，包括腕部、夹钳和器械轴；分析钢丝线轮传动机构的工作原理及腕部与夹钳的运动耦合. 研究手术器械的运动学特性，包括运动学正解、工作空间分析、速度雅克比变换和奇异性分析. 测试手术器械和驱动平台的原理样机表明，该器械能够满足微创手术相关技术操作的要求.


关键词： 微创手术机器人,  手术器械,  机构综合,  运动学分析,  器械样机 
Fig.1 Operation mode of minimally invasive surgical instrument
Fig.2 Mechanism diagram of rotatory wrist
Fig.3 Mechanism design of rotatory wrist
Fig.4 Assembly of wrist and wrist fixed wheel
Fig.5 Rolling mechanism of surgical shaft
Fig.6 Transmission system of surgical shaft
Fig.7 Cables applied to drive instrument end
Fig.8 Kinematic coupling between wrist and graspers
Fig.9 Mechanism diagram and joint coordinates of surgical instrument
i ai-1 /（o） ai-1 /mm di /mm θi /（o）
1 0 0 0 θ1
2 90 0 0 θ2
3(3’) 90 a3 0 θ3 (θ3’)
tool 0 at 0 0
Tab.1 Modified D-H parameters of surgical instrument
Fig.10 Model and workspace of surgical instrument
Fig.11 Manipulability in workspace of surgical instrument
Fig.12 Prototype of surgical instrument
Fig.13 Transmission system of driving platform
Fig.14 Prototype of driving platform
Fig.15 Assembly of surgical instrument and driving platform
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