Design of a modular, flexible instrument with integrated DC-motors for minimal invasive robotic surgery

摘要

This paper proposes a novel concept of a flexible instrument for minimal invasive robotic surgery. The focus of this snake-like manipulator is to reduce the trauma for the patient and a shorter time of hospital stay. Furthermore the performance of complex interventions will be simplified due to the wide range of instruments degrees of freedom. The mechanism of this manipulator is built of several modular segments, which are linked to each other. The two DC-motors inside the segments submit the required two DoFs for generating a 3d pathway. The design of the mechanical parts, sensors and a concept for the control system will be presented in this paper. A simulation environment with an associated mathematical model is also implemented.