• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (17): 28-35.doi: 10.3901/JME.2018.17.028

• 特邀专栏:精准微创手术器械创成与制造基础 • 上一篇    下一篇

具有折展与变刚度特征的NOTES手术器械臂

张国凯1,2, 马家耀1,2, 尚祖峰1,2, 陈焱1,2, 由衷3, 易波4, 王树新1,2   

  1. 1. 天津大学机构理论与装备设计教育部重点实验室 天津 300350;
    2. 天津大学机械工程学院 天津 300350;
    3. 英国牛津大学工程科学系 牛津 OX1 3PJ 英国;
    4. 中南大学湘雅三医院普外科 长沙 410013
  • 收稿日期:2018-01-17 修回日期:2018-04-25 出版日期:2018-09-05 发布日期:2018-09-05
  • 通讯作者: 王树新(通信作者),男,1966年出生,博士,教授,博士研究生导师。主要研究方向为机械系统动力学、水下机器人与医疗手术机器人等。E-mail:shuxinw@tju.edu.cn
  • 作者简介:张国凯,男,1988年出生,博士研究生。主要研究方向为自然腔道手术器械及变刚度理论。E-mail:zhang_gk@tju.edu.cn;马家耀,男,1986年出生,博士,副教授,博士研究生导师。主要研究方向为折纸结构,微创手术医疗器械等。E-mail:jiayao.ma@tju.edu.cn;尚祖峰,男,1992年出生,博士研究生。主要研究方向为微创手术器械及编织结构。E-mail:szf_rai@tju.edu.cn;陈焱,女,1974年出生,博士,教授,博士研究生导师。主要研究方向为可展结构、机构学和折纸结构等。E-mail:yan_chen@tju.edu.cn;由衷,男,1963年出生,博士,教授,博士研究生导师。主要研究方向为可展结构和微创手术器械等。E-mail:zhong.you@eng.ox.ac.uk;易波,男,1978年出生,博士,主治医师。主要研究方向为微创手术机器人临床安全性与服役性。E-mail:leonyi1997@aliyun.com
  • 基金资助:
    国家自然科学基金资助项目(51290293,51575377)。

Deployable Manipulator with Tunable Stiffness for Natural Orifice Transluminal Endoscopic Surgery

ZHANG Guokai1,2, MA Jiayao1,2, SHANG Zufeng1,2, CHEN Yan1,2, YOU Zhong3, YI Bo4, WANG Shuxin1,2   

  1. 1. Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300350;
    2. School of Mechanical Engineering, Tianjin University, Tianjin 300350;
    3. Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK;
    4. The Third Xiangya Hospital of Central South University, Changsha 410013
  • Received:2018-01-17 Revised:2018-04-25 Online:2018-09-05 Published:2018-09-05

摘要: 自然腔道手术(Natural orifice transluminal endoscopic surgery,NOTES)具有恢复快、创伤小、疼痛轻等优点,在临床应用潜力巨大。为适应人体复杂腔道环境,NOTES中常采用长器械臂为手术工具提供通路及支撑。现有的器械臂往往尺寸较大且刚度低,不能满足NOTES的要求。提出一种可折展、变刚度的器械臂,采用编织结构作为骨架实现径向折展,同时借助包覆在编织结构交叉点处的热熔胶实现刚度调节。建立了器械臂的数学模型,得到了柔态和刚态下的刚度解析表达式。试验结果表明,通过加热及冷却热熔胶,器械臂可以实现刚柔两态转化,其刚度比接近20,并且转换时间小于30 s,同时可以实现约2倍的径向展开比。

关键词: 编织结构, 可变刚度, 器械臂, 展开比, 自然腔道手术

Abstract: Natural orifice transluminal endoscopic surgery (NOTES) has great potential in clinical applications due to its shorter and better recoveries, less trauma and postoperative pain compared with open surgery. In NOTES, a long manipulator is always placed through a tortuous human orifice to create a channel for surgical instruments and provide support when they are operated. Currently most manipulators have a large profile and low stiffness, and therefore are not able to meet the requirements of NOTES. A new deployable manipulator with tunable stiffness is proposed. The manipulator takes a braided structure to achieve radial deployment/folding, whereas hot melt adhesive is placed at the intersection points of the structure to adjust its stiffness. A mathematical model is built to calculate the stiffness in the rigid and flexible states, respectively. Experimental results demonstrate that by heating and cooling the adhesive, a flexible and a rigid states are achieved, and the ratio of bending stiffness in the rigid state to that in the flexible state reaches around 20. The stiffness switch is complete in less than 30 s. In addition, a deployable over folding ratio of around 2 is also achieved.

Key words: braided structure, deployment/folding ratio, manipulator, natural orifice transluminal endoscopic surgery, tunable stiffness

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