Welcome to Journal of Beijing Institute of Technology
Advance Search
Volume 28Issue 3
.
Turn off MathJax
Article Contents
Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2019> 28(3): 561-569
Mei Feng, Haijun Zhang, Xiaoqin Zhou, Chang Wang, Yong Hu. Hand-Held Surgical Instrument with the Function of Self-Locking for Minimally Invasive Surgery[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(3): 561-569. doi: 10.15918/j.jbit1004-0579.18050
Citation: Mei Feng, Haijun Zhang, Xiaoqin Zhou, Chang Wang, Yong Hu. Hand-Held Surgical Instrument with the Function of Self-Locking for Minimally Invasive Surgery[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(3): 561-569.doi:10.15918/j.jbit1004-0579.18050
shu

Hand-Held Surgical Instrument with the Function of Self-Locking for Minimally Invasive Surgery

doi:10.15918/j.jbit1004-0579.18050

  • College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China

  • Received Date:2018-06-16
    Abstract
  • In order to improve the flexibility of the surgical instruments, a wire-driven wrist-like structure is proposed in this paper. The instrument has three degrees of freedom (DOFs) of rotation, yaw, opening and closing. Furthermore, we also acknowledge no coupling motion for each DOF. Moreover, the self-locking motion contributes to sustaining joint posture under external force. A static analysis for the end effector was conducted using the ANSYS software. At the end of this paper, a series of experiments for the prototype was performed. The results revealed that for the same surgical task, the proposed instrument had higher flexibility and the completion time of the operation tasks was obviously less than that of the traditional instrument. The results of the self-locking and operating force test showed that the surgical instruments perform well in maintaining joint posture under the force of 8.2N. The proposed surgical instrument meets the requirements of minimally invasive surgery (MIS).
    • FullText(HTML)
  • loading
    • References (33)
  • [1]
    Camarillo D B, Krummel T M, Salisbury J K. Robotic technology in surgery:Past, present, and future[J]. The American Journal of Surgery, 2004, 188(4):2-15.
    [2]
    Talor R H, Menciassi A, Fichtinger G, et al. Medical robotics and computer-integrated surgery[M]//Springer Handbook of Robotics. Berlin, Heidelberg:Springer, 2016:1657-1684.
    [3]
    Yang Guoli. The development of the minimally invasive procedure:The history, now and future[J]. Medicine and Philosophy, 2004, 25(11):5-7. (in Chinese)
    [4]
    Taylor R H, Funda J, Eldridge B, et al. A telerobotic assistant for laparoscopic surgery[J]. IEEE Engineering in Medicine and Biology Magazine, 1995, 14(3):279-288.
    [5]
    Green P S, Hill J W, Jensen J F, et al. Telepresence surgery[J]. IEEE Engineering in Medicine and Biology Magazine, 1995, 14(3):324-329.
    [6]
    Liu Da, Wang Tianmiao, Zhang Yuru, et al. Structure synthesis of surgical robot orienting to minimally[J]. Robot, 2003, 25(2):132-135. (in Chinese)
    [7]
    Ling Liangming. The development of robot-assisted minimally invasive surgery[J]. China Medical Devices Information, 2003, 9(2):16-18. (in Chinese)
    [8]
    Wei Shanwu, Ding Haibo. Clinical application and actuality and value of laparoscopic minimally invasive surgery in abdominal surgery[J]. China Modern Medicine, 2009, 16(24):156-156. (in Chinese)
    [9]
    Madhani A J, Niemeyer G, Salisbury J K. The black falcon:A teleoperated surgical instrument for minimally invasive surgery[C]//1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 1998, 2:936-944.
    [10]
    Ma R, Wu D, Yan Z, et al. Research and development of micro-instrument for laparoscopic minimally invasive surgical robotic system[C]//2010 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2010:1223-1228.
    [11]
    Zahraee A H, Paik J K, Szewczyk J, et al. Toward the development of a hand-held surgical robot for laparoscopy[J]. IEEE/ASME Transactions on mechatronics, 2010, 15(6):853-861.
    [12]
    Piccigallo M, Focacco F, Tonet O, et al. Handheld robotic instrument for dextrous laparoscopic interventions[J]. The International Journal of Medical Robotics and Computer Assisted Surgery, 2008, 4(4):331-338.
    [13]
    Lange D, Gossot G. Deflectable and rotatable endoscopic instrument with intuitive control[J]. Minimally Invasive Therapy & Allied Technologies, 2001, 10(6):295-299.
    [14]
    Wang X, Wang S, Li J, et al. Easy Grasp:A novel hybrid-driven manual medical instrument for laparoscopic surgery[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2012, 226(12):2990-3001.
    [15]
    Cai Jin, Hang Lubin, Fu Zhiyu, et al. The design and kinematic analysis of the serial-parallel mechanism of the mini-invasive surgical instruments[J]. Machine Building & Automation, 2016, 45(3):8-10. (in Chinese)
    [16]
    Wang H, Wang S, Ding J, et al. Suturing and tying knots assisted by a surgical robot system in laryngeal MIS[J]. Robotica, 2010, 28(2):241-252.
    [17]
    Feng Mei, Fu Yili, Pan Bo, et al. An improved surgical instrument without coupled motions that can be used in robotic-assisted minimally invasive surgey[J]. Proceedings of the Institution of Mechanical Engineers, Part H:Journal of Engineering in Medicine, 2012, 226(8):623-630.
    [18]
    Arata J, Tanaka K, Tanaka K, et al. Remote robotic surgery system for a laparoscopy[C]//Proc of the Japan-USA Symposium on Flexible Automation JS020, Denver, USA, 2004.
    [19]
    Arata J, Mitsuishi M, Warisawa S, et al. Development of a dexterous minimally-invasive surgical system with augmented force feedback capability[C]//2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2005:3207-3212.
    [20]
    Minor M, Mukherjee R. A dexterous manipulator for minimally invasive surgery[C]//1999 IEEE International Conference on, Robotics and Automation, IEEE, 1999, 3:2057-2064.
    [21]
    Zhu Youwei, Luo Hu, Jin Zhongqing. Design and research of new wire rope precision transmission[J]. Machinery Design & Manufacture, 2007(6):6-8. (in Chinese)
    [22]
    Sang H, Meng J, Yun J. Kinematic analysis of a class of multi-DOF tendon-driven minimally invasive surgical instruments[C]//2011 International Conference on Computer Science and Network Technology (ICCSNT), IEEE, 2011, 2:607-612.
    [23]
    Salisbury K, Townsend W, Ebrman B, et al. Preliminary design of a whole-arm manipulation system (WAMS)[C]//1988 IEEE International Conference on Robotics and Automation, IEEE, 1988:254-260.
    [24]
    Chua J Y. Design of a Wearable Robot[D]. Florida, USA:The Florida State University, 2006:15-36
    [25]
    Luo Hu, Shen Jun, Sheng Dejun. Groove match design method of a cable drive[J]. Mechanical Science and Technology for Aerospace Engineering, 2010(3):329-332. (in Chinese)
    [26]
    Song S K, Kim W S, Kwon D S, et al. Analysis of microsurgery task for developing micromanipulator[C]//Proceedings of the 12th Korea Automatic Control Conference, 1997, 2:1631-1634.
    [27]
    Kwon D S, Woo K Y, Song S K, et al. Microsurgical telerobot system[C]//1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 1998, 2:945-950.
    [28]
    Costello G A. Theory of wire rope[M]. Berlin, Germany:Springer Science & Business Media, 1997.
    [29]
    Lazeroms M, Jongkind W, Honderd G. Telemanipulator design for minimally invasive surgery[C]//Proceedings of the 1997 American Control Conference, IEEE, 1997, 5:2982-2986.
    [30]
    Breedveld P, Stassen H G, Meijer D W, et al. Theoretical background and conceptual solution for depth perception and eye-hand coordination problems in laparoscopic surgery[J]. Minimally Invasive Therapy & Allied Technologies, 1999, 8(4):227-234.
    [31]
    Frede T, Stock C, Renner C, et al. Geometry of laparoscopic suturing and knotting techniques[J]. Journal of Endourology, 1999, 13(3):191-198.
    [32]
    Lee Y J, Kim J, Ko S Y, et al. Design of a compact laparoscopic assistant robot:KaLAR[C]//Proceedings of the International Conference on Control Automation and Systems, 2003.
    [33]
    Munoz V F, Vara-Thorbeck C, DeGabriel J G, et al. A medical robotic assistant for minimally invasive surgery[C]//IEEE International Conference on Robotics and Automation, IEEE, 2000, 3:2901-2906.
    • Relative Articles
  • Supplements (0)
  • Cited By
  • 加载中

Catalog

    通讯作者:陈斌, bchen63@163.com
    • 1.

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views (498) PDF downloads(902) Cited by()
    Proportional views
    Related

    Address:5 Zhongguancun South Street, Haidian District, Beijing

    Tel:86-10-68914374

    Email:blgywb@bit.edu.cn

    Copy Right © Journal of Beijing Institute of Technology

    Supported by:Beijing Renhe Information Technology Co. Ltd

    /

      Return
      Return
        Baidu
        map