Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool With Decoupled Kinematics
Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool With Decoupled Kinematics
复制标题
具有解耦运动学的模块化连续铰接腹腔镜机器人工具的设计
DOI：
10.1109/lra.2019.2927929
复制
发表时间：
2019-10-01
影响因子：
5.2
通讯作者：
Xu, Kai
中科院分区：
文献类型：
--
作者：
Wu, Zhonghao;Li, Qi;Xu, Kai
机器人辅助腹腔镜微创手术因其灵巧性增强、精度提高、眼手协调自然等优点而备受关注。在这些手术中，通常由多个患者侧操作器操纵远端手腕的棒状手术工具来执行手术。这些患者侧机械手应实现运动中心的远程移动，并且在运动过程中存在相互碰撞的风险。另一方面，连续外科手术机械臂通常具有多个节段，通常具有多个自由度（dfs）用于患者腔内的运动，并且只需要一个可锁定的床边支架，而不是机械臂。然而，连续段固有的弯曲曲率有限，因此手术末端执行器在受限解剖特征周围的大方向变化是具有挑战性的。因此，本文提出了一种模块化的连续铰接腹腔镜机器人工具设计，具有简单和解耦的运动学。该工具使用倒置双连续体机构来实现纯平移，同时采用2自由度电缆驱动的远端腕关节进行定向。所使用的双连续体机制在其整个横截面上保持恒定长度，以显着促进维持手腕远端驱动电缆的张力。报告了设计概念、运动学、系统描述、驱动校准和实验表征，证明了所提出思想的有效性。
Robot-assisted laparoscopic minimally invasive surgery has gained significant attentions due to its enhanced dexterity, improved precision, natural eye-hand coordination, etc. In these procedures, stick-like surgical tools with distal wrists are usually maneuvered by multiple patient-side manipulators to perform an operation. These patient-side manipulators shall realize remote center of motion movements and are subject to risks of mutual collisions during motion. On the other hand, the continuum surgical manipulators, often with multiple segments, usually have several degrees of freedom (DoFs) for the movements in a patient's cavity, and only need a lockable bedside stand, rather than a manipulator. However, the continuum segments inherently have limited bending curvature such that large orientation changes of the surgical end effector around confined anatomical features can be challenging. This letter, hence, proposes a modular continuum-articulated laparoscopic robotic tool design with simple and decoupled kinematics. An inverted dual-continuum mechanism is used in the tool to realize pure translations, while a 2-DoF cable-driven distal wrist is incorporated for orientations. The utilized dual-continuum mechanism maintains a constant length across its entire cross section to significantly facilitate maintaining tensions for the actuation cables of the distal wrist. Design concept, kinematics, system descriptions, actuation calibration, and experimental characterizations are reported, demonstrating effectiveness of the proposed idea.