K-FLEX: A flexible robotic platform for scar-free endoscopic surgery
K-FLEX: A flexible robotic platform for scar-free endoscopic surgery
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DOI：
10.1002/rcs.2078
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发表时间：
2020-02-11
影响因子：
2.5
通讯作者：
Kwon, Dong-Soo
中科院分区：
文献类型：
--
作者：
Hwang, Minho;Kwon, Dong-Soo
背景
尽管内镜平台具有较高的病变可达性和通用性，但在设计具有足够高负载能力以执行先进内镜手术的柔性操作器方面一直存在困难。
方法
开发了一种柔性机器人平台K - FLEX，其总直径设计为17毫米。为了克服负载处理中的形状变形和挠曲问题，设计了一种坚固的连续体操作器，使其对变形具有最大的抵抗力。建立了主从遥操作的运动学分析和映射策略。
结果
所提出的操作器在提升300克重物时轨迹变化为7.5毫米。最后，通过三种模拟手术任务验证了集成K - FLEX系统的可行性。
结论
所提出的机器人的初始原型显示了具有改进负载能力的先进内镜手术的可能性。
Background Despite its high lesion accessibility and versatility, endoscopic platforms have suffered from designing flexible manipulators with high payload capability sufficient to perform advanced endoscopic procedures.Methods A flexible robotic platform, K-FLEX, has been developed with a design of 17 mm in overall diameter. To overcome the shape distortion and deflection in payload handling, a strong continuum manipulator has been designed to have maximum resistance to the distortion. The kinematic analysis and mapping strategy have been established for the master-slave teleoperation.Results The proposed manipulator has shown 7.5 mm in trajectory variation to lift the weight of 300 g. Finally, the feasibility of the integrated K-FLEX system has been verified through three kinds of simulated surgical tasks.Conclusions The initial prototype of the proposed robot showed the possibility of advanced endoscopic surgery with improved payload capability.