Design parameter evaluation based on human operation for tip mechanism of forceps manipulator using surgical robot simulation
Design parameter evaluation based on human operation for tip mechanism of forceps manipulator using surgical robot simulation
复制标题
基于手术机器人仿真的镊子机械臂尖端机构设计参数评估
DOI：
10.1080/01691864.2015.1129361
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发表时间：
2016
影响因子：
2
通讯作者：
Makoto Hashizume and Masakatsu G. Fujie
中科院分区：
文献类型：
--
作者：
Kazuya Kawamura;Hiroto Seno;Yo Kobayashi;Satoshi Ieiri;Makoto Hashizume and Masakatsu G. Fujie
提出了一种小儿外科机器人的设计方法，即在实际机器人研制之前，在计算机模拟器中对机器人的工作空间和视图信息进行评估。在这项研究中，我们研究了在虚拟环境中使用不同机械参数的钳子机械手进行缝合任务。我们对先天性食管闭锁的手术工作空间进行了再现，并测量了手术的工作体积和隐形面积，以获得适合缝合任务的参数。并利用Pareto最优解法计算出合适的力学参数，并对Pareto最优解中的力学参数进行了验证。我们从实验结果中验证了在缝合任务中工作体积和不可见区域之间存在权衡。此外，我们从计算结果中确定，钳式机械手的机械设计受到缝合任务中不可见区域的影响。最后，我们证实了使用所提出的方法可以获得合适的手术机器人参数。
We proposed a design method for pediatric surgical robots that evaluates the workspace and view information in computer simulator before the actual robot is developed. In this study, we investigated a suturing task in a virtual environment using forceps manipulators with different mechanical parameters. We reproduced the surgical workspace for congenital esophageal atresia and measured the working volume and invisible area to obtain suitable parameters for the suturing task. We also calculated the suitable mechanical parameters using Pareto optimal solution method and verified the mechanical parameters in Pareto optimal solution. We verified from the experimental results that there is a trade-off between the working volume and invisible area during the suturing task. Moreover, we determined from the calculation results that the mechanical design of the forceps manipulator is influenced by the invisible area during the suturing task. Finally, we confirmed that it is possible to obtain suitable parameters for surgical robots using the proposed method.