摘要
目的建立内镜柔性器械腱鞘系统的推力传动模型,研究影响传动效率的关键因素。方法建立腱鞘系统在器械推送作用下力和位移的传动模型并进行仿真计算;搭建腱鞘系统传动测试的实验平台以验证模型的准确性,研究传动速度、腱鞘直径比、弯曲半径等对传动效率的影响。结果腱鞘传动过程中存在显著的非线性传递现象,传动模型仿真与实验结果基本符合;传动速度、腱鞘直径比、弯曲半径均对内镜柔性器械的推力传动有较大影响,对位移传动的影响相对小一些。结论该模型可用于内镜柔性器械中腱鞘系统推力传动的计算,提供给医生器械工作末端的力反馈,以保证器械的安全操作和提高手术效果;在内镜柔性器械的精准控制中需要综合考虑传动速度、腱鞘传动比、弯曲半径等对运动传递的影响。
Objective To establish the pushing transmission model of tendon-sheath system( TSS) for endoscopic flexible instrument,and study the key influencing factors of transmission efficiency. Methods The force and displacement transmission models of TSS in pushing configuration were built and simulated. The tendon-sheath transmission testing platform was designed to validate the model. The influencing factors,such as transmission velocity,tendon-sheath diameter ratio,curvature radius,were explored using this setup. Results There were obvious nonlinear phenomenon in force and displacement transmission. The model simulation results accorded quite well with the experiment results. Transmission velocity,tendon-sheath diameter ratio,curvature radius all had great effects on pushing force transmission of endoscopic flexible instrument,while they had a smaller effect on displacement transmission. Conclusions The proposed model can be used for calculating pushing force transmission of tendon-sheath system for endoscopic flexible instrument,so as to provide the doctors with force feedback at the tip of the end effector,and ensure the safe operation and improve the surgical effects. For better design and control of endoscopic flexible instrument,the transmission velocity,tendon-sheath diameter ratio,curvature radius must be comprehensively considered.
作者
艾辽元
潘贞
于锡潼
宋成利
AI Liaoyuan;PAN Zhen;YU Xitong;SONG Chengli(Shanghai Institute for Minimally Invasive Therapy,School of Medical Instrument and Food Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《医用生物力学》
CAS
CSCD
北大核心
2021年第5期769-775,共7页
Journal of Medical Biomechanics
基金
国家自然科学基金项目(51735003)
上海市科委项目(18441900200)。
关键词
内镜外科手术
柔性器械
腱鞘系统
非线性传动模型
力反馈
endoscopic surgery
endoscopic flexible instruments
tendon-sheath system
nonlinear transmission models
force feedback
