• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (11): 120-127.doi: 10.3901/JME.2021.11.120

• 特邀专栏:生物组织精准手术器械设计制造 • 上一篇    下一篇

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机器人辅助微创手术器械丝传动张力传递研究

冯美1, 李妍1, 赵继2, 呼咏1, 高奎鸿1   

  1. 1. 吉林大学机械与航空航天工程学院 长春 130022;
    2. 东北大学机械工程与自动化学院 沈阳 110819
  • 收稿日期:2020-12-23 修回日期:2021-02-18 出版日期:2021-07-23 发布日期:2021-07-23
  • 通讯作者: 呼咏(通信作者),女,1966年出生,博士,教授,博士研究生导师。主要研究方向为材料性能测试技术与仪器、复杂曲面数控加工技术及装备。E-mail:huyong@jlu.edu.cn
  • 作者简介:冯美,女,1984年出生,博士,副教授,博士研究生导师。主要研究方向为医疗机器人智能控制、手术器械精细设计与智能传感。E-mail:fengmei@jlu.edu.cn
  • 基金资助:
    国家自然科学基金(51975241)、吉林省自然科学基金(20180101076JC)、吉林省科技厅重点研发(20200404150YY)和吉林省产业技术研究与开发专项(2019C048-3)资助项目。

Study on the Tension Transmission of Steel Cable-driven Surgical Instrument for Robot-assisted Minimally Invasive

FENG Mei1, LI Yan1, ZHAO Ji2, HU Yong1, GAO Kuihong1   

  1. 1. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022;
    2. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819
  • Received:2020-12-23 Revised:2021-02-18 Online:2021-07-23 Published:2021-07-23

摘要: 机器人辅助微创手术器械一般采用丝传动来实现手术器械大长径比结构下的动力传递,传力过程中钢丝绳的张力传递损失会引起手术器械关节运动误差,因此研究丝传动张力变化是保证手术器械运动精度的前提。根据手术器械结构特点,引入导轮与钢丝绳的半径比及张力倾斜角来表征钢丝绳弯曲刚度,通过对钢丝绳与导轮接触区域与非接触区域的受力分析,得到了钢丝绳的张力比计算公式。试验结果表明,应用所提出的张力比计算公式获得的张力值与传感器直接测得的张力值比较吻合。此外,应用张力比计算公式分析了包角、摩擦因数、半径比、张力倾斜角等结构参数对钢丝绳张力变化的影响。该研究工作可为手术器械的精确运动控制及结构设计提供理论指导。

关键词: 张力变化, 丝传动, 手术器械, 机器人辅助微创手术

Abstract: The surgical instruments for robot-assisted minimally invasive surgery generally use steel cable-driven to achieve the power transmission under the structure of large length diameter ratio. The tension loss of steel cable in the process of force transmission will cause motion error of surgical instruments. Therefore, the research on the tension change of steel cable is the premise to ensure the motion accuracy of surgical instruments. According to the structural characteristics of surgical instruments, the radius ratio of pulley to steel cable and tension inclination angle are introduced to characterize the bending stiffness of steel cable. Through the force analysis of contact area and non-contact area between steel cable and pulley, the calculation formula for calculating the tension of steel cable is obtained. The experimental results show that the tension value obtained by using the tension formula proposed here is in good agreement with the tension value directly measured by the sensor. In addition, the influence of structural parameters such as wrap angle, friction coefficient, radius ratio and tension inclination angle on the tension change of steel cable is analyzed. This study can provide theoretical guidance for precise motion control and structure design of surgical instruments.

Key words: tension transmission, steel cable-driven, surgical instruments, robot-assisted minimally invasive surgery

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