OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools
OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools
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DOI：
10.1109/access.2023.3236821
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发表时间：
2023-01-01
期刊：
影响因子：
3.9
通讯作者：
Hasegawa, Yasuhisa
中科院分区：
文献类型：
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作者：
Colan, Jacinto;Davila, Ana;Hasegawa, Yasuhisa
机器人辅助微创手术已被证明能够有效地提高外科医生的能力，提供放大的3D视觉、高度灵巧的手术工具以及用于高精度工具运动控制的直观的人-机器人界面。机器人手术工具(RST)是决定RMIS系统性能的关键部件。目前的可再生能源技术成本仍然很高，几乎没有商业上可用的选择，这限制了对可再生能源管理系统的普遍获取和研究。我们的目标是利用生物兼容3D打印的最新进展，为RMI技术的发展做出贡献，为低成本、生物兼容和可定制的RST提供一个开放平台。所提出的设计理念由一个带解耦腕部机构的三自由度末端执行器、一个工具接口模块和一个工具驱动单元组成。我们使用有限元分析(FEA)验证了我们的末端执行器设计，以确认高握力产生的应力保持在材料屈服应力以下。验证实验表明，所提出的RST可以提供高达10N的抓地力和高达3N的拉力。该控制框架的平均绝对定位跟踪误差约为0.1rad。最后，我们还演示了建议的RST在两个外科训练任务中的使用：拾取和放置和缝合。设计和软件控制框架是开放访问的，可以免费在https://github.com/jcolan/OpenRST.上进行定制和快速开发
Robot-assisted minimally invasive surgery (RMIS) has been shown to be effective in improving surgeon capabilities, providing magnified 3D vision, highly dexterous surgical tools, and intuitive human-robot interfaces for high-precision tool motion control. Robotic surgical tools (RST) are a critical component that defines the performance of an RMIS system. Current RSTs still represent a high cost, with few commercially available options, which limits general access and research on RMIS. We aim to take advantage of recent progress in biocompatible 3D printing and contribute to the development of RMIS technologies, presenting an open platform for low-cost, biocompatible, and customizable RSTs. The proposed design concept consists of a 3-DOF end-effector with a decoupled wrist mechanism, a tool interface module, and a tool drive unit. We validated our end-effector design using Finite Element Analysis (FEA) to confirm that stress generated by high grip forces is maintained below the material yield stress. Validation experiments showed that the proposed RST could provide up to 10N grip forces and up to 3N pulling forces. The proposed control framework exhibited a mean absolute positioning tracking error of approximately 0.1 rad. Finally, we also demonstrated the use of the proposed RST in two surgical training tasks: pick-and-place and stitching. The designs and software control framework are open-access and freely available for customization and fast development at https://github.com/jcolan/OpenRST.