Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery.
Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery.
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DOI：
10.1109/tmech.2012.2209671
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发表时间：
2013-10
期刊：
影响因子：
--
通讯作者：
Simaan N
中科院分区：
文献类型：
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作者：
Ding J;Goldman RE;Xu K;Allen PK;Fowler DL;Simaan N
单端口接入手术(SPA)给外科医生带来了更多的挑战，需要新的手术工具和具有独特功能的手术辅助系统。为了应对这些挑战，我们设计并建造了一种新的可插入式机器人末端执行器平台(IREP)。IREP可以通过直径15 mm的套管针插入腹部，它使用21个致动关节来控制两个灵巧手臂和一个立体视觉模块。每个灵巧手臂都有一个混合机械结构，包括一个两段连续体机器人，一个用于改进双臂三角测量的平行四边形机构，以及一个用于在缝合过程中提高灵活性的远端手腕。IREP是独一无二的，因为它将连续臂与具有刚性并联运动学机构的主动段和被动段相结合。本文介绍了IREP的临床动机、设计考虑、运动学、静力学和机械设计。利用表示各蛇臂被动段的梁的伪刚体模型，给出了平行四边形机构与连续臂之间协调的运动学模型。给出了运动学和静力学仿真以及初步的实验结果，以支持我们的设计选择。
Single port access surgery (SPAS) presents surgeons with added challenges that require new surgical tools and surgical assistance systems with unique capabilities. To address these challenges, we designed and constructed a new insertable robotic end-effectors platform (IREP) for SPAS. The IREP can be inserted through a Ø15 mm trocar into the abdomen and it uses 21 actuated joints for controlling two dexterous arms and a stereo-vision module. Each dexterous arm has a hybrid mechanical architecture comprised of a two-segment continuum robot, a parallelogram mechanism for improved dual-arm triangulation, and a distal wrist for improved dexterity during suturing. The IREP is unique because of the combination of continuum arms with active and passive segments with rigid parallel kinematics mechanisms. This paper presents the clinical motivation, design considerations, kinematics, statics, and mechanical design of the IREP. The kinematics of coordination between the parallelogram mechanisms and the continuum arms is presented using the pseudo-rigid-body model of the beam representing the passive segment of each snake arm. Kinematic and static simulations and preliminary experiment results are presented in support of our design choices.