Motion order system for the end effector of an instrument used in endoscopic surgery
Motion order system for the end effector of an instrument used in endoscopic surgery
复制标题
内窥镜手术器械末端执行器的运动指令系统
DOI：
10.1163/15685530360675505
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发表时间：
2003
影响因子：
2
通讯作者：
M. Sakaguchi
中科院分区：
文献类型：
--
作者：
S. Shimachi;Akira Hashimoto;M. Sakaguchi
- 手术器械的机器人操作大大提高了手术操作的可操作性。尽管机器人手术系统具有很高的能力，但它们需要高成本和大的空间。作为这些问题的解决方案，已经提出了许多仪器系统（Mid系统）。这些系统位于传统手动器械系统和机器人手术系统之间的中间位置。本文提出了一些钳属于中间系统。本文首先讨论并确立了设计中置系统仪表时应考虑的条件。作者认为，重要的是要使钳的钳口绕其轴旋转顺利，使末端执行器具有多自由度。运动（MDFM）精细运动的能力，就像精细雕刻工作所需的那样。在Mid系统的条件下，我们讨论了如何用单手的方法用MDFM对乐器的多个运动进行排序（运动排序）。本文尝试了手术钳“A”，其具有一些用于运动顺序的电气开关，用于最小化可能从命令MDFM运动的手转移的末端执行器的颤抖。试运行表明，开关的良好接触几乎不引起钳“A”末端执行器的抖动。然而，他们也表明，它似乎很难为末端执行器采取所需的姿势迅速。为了响应末端执行器的姿态必须快速改变的另一需求，本文提出了具有新机构的钳子“B”，该新机构可以通过将手的姿态作为与钳口的旋转运动分开的末端执行器所需的姿态来给出末端执行器的姿态。试运行结果表明，该机构能够方便地改变末端执行器的位姿。即便如此，他们还表明，在快速姿态变化，操作员感到难以遵循的程序后，姿态变化的末端执行器。本文在一定程度上阐明了手的动作顺序法与镊子末端执行器能力的关系。
—Robotic operations of surgical instruments have greatly improved the workability of surgical operations. Even though they have high abilities, robotic surgery systems demand high cost and a large room space. As a solution to those problems, a number of instrument systems (Mid systems) have been proposed. Those systems are located at the middle position between conventional manual instrument systems and robotic surgery systems. This paper proposes some forceps that belong to the Mid systems. First, this paper discusses and sets up the conditions that should be considered when designing the Mid system instrument. This authors think it important to enable the forceps' jaws to rotate about its axis smoothly, to give the end effector with multi-d.o.f. motion (MDFM) the abilities of fine motion like that required for fine suturing work. Under the conditions of the Mid system, we discuss how we order the many motions of the instrument with MDFM by means of only one hand (Motion order). This paper tried forceps 'A' that has some electric switches for the Motion order for minimizing the end effector's tremble that may be transferred from the hand ordering the MDFM motions. The trial operations show that the fine touches of the switches cause little trembling on the end effector of forceps 'A'. However, they also show that it seems difficult for the end effector to take the required pose speedily. To respond to another demand that the end effector's pose has to change speedily, this paper proposes forceps 'B' that has a new mechanism that can give the pose of the end effector by taking the hand pose as the required one for the end effector separately from the jaws' rotational motion. The trial operations show that the new mechanism enables us to easily change the pose of the end effector. Even so, they also show that, in rapid pose change, the operator felt it difficult to follow the procedure after the pose change of the end effector. This paper clarifies, to a certain extent, the relationships of the Motion order method by the hand and the abilities of the end effector of the forceps.