arXiv 2207.047352022-07-11cs.RO

基于NiTi钢丝的微型3- DoF柔性并联机器人腕关节的研究

A Miniature 3-DoF Flexible Parallel Robotic Wrist Using NiTi Wires for Gastrointestinal Endoscopic Surgery

NUS (Suzhou) Research Institute (NUSRI)（新加坡国立大学（苏州）研究院（NUSRI））

Huxin Gao, Xiao Xiao, Xiaoxiao Yang, Tao Zhang, Xiuli Zuo, Yanqing Li, Hongliang Ren

备注：: IEEE International Conference on Robotics and Automation (ICRA) 2022 workshop: Frontiers of Endoluminal Intervention: Clinical opportunities and technical challenges

摘要：

胃肠道内窥镜手术（GES）由于内窥镜通道狭窄，人体胃肠道长而曲折，对器械的尺寸和远端灵活性有很高的要求。本文利用镍钛合金丝研制了一种小型三自由度（pitch-yaw-translation）柔性并联机器人手腕（FPRW）。此外，我们在手腕的连接接口上组装了一把电刀，然后遥控它在猪胃上进行内镜粘膜下剥离术（ESD）。在每个ESD工作流程中的有效性能证明了所设计的FPRW具有足够的工作空间、高远端灵活性和高定位精度。

英文摘要：

Gastrointestinal endoscopic surgery (GES) has high requirements for instruments' size and distal dexterity, because of the narrow endoscopic channel and long, tortuous human gastrointestinal tract. This paper utilized Nickel-Titanium (NiTi) wires to develop a miniature 3-DoF (pitch-yaw-translation) flexible parallel robotic wrist (FPRW). Additionally, we assembled an electric knife on the wrist's connection interface and then teleoperated it to perform an endoscopic submucosal dissection (ESD) on porcine stomachs. The effective performance in each ESD workflow proves that the designed FPRW has sufficient workspace, high distal dexterity, and high positioning accuracy.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。