A Wrist for Needle-Sized Surgical Robots.
A Wrist for Needle-Sized Surgical Robots.
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DOI：
10.1109/icra.2015.7139428
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
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作者：
York PA;Swaney PJ;Gilbert HB;Webster RJ 3rd
这种针大小的手术工具用于关节镜检查、耳鼻喉科和其他外科领域，如果赋予它绕过尖角来操纵或可视化组织的能力，对外科医生来说将变得更有价值。我们提出了一种针大小的手腕设计，赋予这种能力。它可以很容易地与手动工具或同心管机器人接口，是直接和廉价的制造。手腕由一个镍钛诺管和几个不对称的切口组成，由肌腱驱动。也许与直觉相反，在这个看似简单的设计概念中，由于可用参数的数量和材料特性的非线性，设计优化具有挑战性。在本文中，我们研究了可能的几何形状的一个子集，并推导了运动学和静态模型。1.16 mm直径样机的实验结果验证了模型的正确性。最后，我们提供了一个讨论，总结了我们在早期设计和制造这种类型的手腕的经验教训。
The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. We present a needle-sized wrist design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The wrist consists of a nitinol tube with several asymmetric cutouts, actuated by a tendon. Perhaps counter-intuitively, within this seemingly simple design concept, design optimization is challenging due to the number of parameters available and nonlinearities in material properties. In this paper, we examine a subset of possible geometries and derive kinematic and static models. Experimental results with a 1.16 mm diameter prototype validate the models. Lastly, we provide a discussion summarizing the lessons learned in our early experience designing and fabricating wrists of this type.