Research and development of micro-instrument for laparoscopic minimally invasive surgical robotic system

摘要

Because of the fewer degree of freedom (DOF), poor flexibility and the absence of uniform mechanical and electrical interface, the micro instruments used in traditional invasive surgery can not be introduced into the laparoscopic minimally invasive surgical robotic system (LMISRS) directly. So it is very necessary to research and develop a series of new micro instruments for the LMISRS. Having considered the difference of motion flexibility and working space in micro instruments for different use, a novel micro instrument design method was suggested in the paper. By using the method, the DOF of the micro instruments can be configured randomly. By analyzing the requirements of the working space and the DOF configuration in invasive surgery, a ingenious snake-like joint modular was designed, and based on the research of the motion character and topology, a wrist mechanism with four joints and its drive system were also developed; furthermore, the coupling character of the drive system was also analyzed; at last, a dissecting forceps with good flexibility and a fast interface modular were designed. The experiments validated that the dissecting forceps is satisfied to the clinical requirements.