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

doi:10.3901/JME.2021.11.120

Abstract

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

CLC Number:

TG156

FENG Mei, LI Yan, ZHAO Ji, HU Yong, GAO Kuihong. Study on the Tension Transmission of Steel Cable-driven Surgical Instrument for Robot-assisted Minimally Invasive[J]. Journal of Mechanical Engineering, 2021, 57(11): 120-127.

References

[1] DARIO P,GUGLIELMELLI E,ALLOTTA B,et al. Robotics for medical applications[J]. IEEE Robotics and Automation Magazine,1996,3(3):44-56.
[2] 田文,费阳. 达芬奇手术机器人系统在疝外科的应用[J]. 中华胃肠外科杂志,2018,21(7):740-743.TIAN Wen,FEI Yang. Application of Da Vinci surgical robot system in hernia surgery[J]. Chinese Journal of Gastrointestinal Surgery,2008,21(7):740-743.
[3] BROEDERS I,RUURDA J. Robotics revolutionizing surgery:the intuitive surgical "Da Vinci" system[J]. Industrial Robot:An International Journal,2001,28(5).
[4] 王伟,王伟东,闫志远,等. 腹腔镜外科手术机器人发展概况综述[J]. 中国医疗设备,2014,29(08):5-10,35.WANG Wei,WANG Weidong,YAN Zhiyuan,et al. A review of the development of laparoscopic surgical robots[J]. China medical devices,2014,29(08):5-10,35.
[5] 冯美. 腹腔微创手术机器人系统关键技术研究[D]. 哈尔滨:哈尔滨工业大学,2012.FENG Mei. Research on key technologies of robot system for minimally invasive abdominal surgery[D]. Harbin:Harbin Institute of Technology,2012.
[6] MICHAAEL J T,THOMAS C,CHRIS J,et al. Mechanical actuator interface system for robotic surgical tools:U.S.patent.8758352[P]. 2014-06-24.
[7] CHANG S L,LEE J J,YEN H C. Kinematic and compliance analysis for tendon-driven robotic mechanisms with flexible tendons[J]. Mechanism and Machine Theory,2005,40(6):728-739.
[8] MIYASAKA M,MATHESON J,LEWIS A,et al. Measurement of the cable-pulley coulomb and viscous friction for a cable-driven surgical robotic system[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems. IEEE,2015.
[9] LEE T K,KIM C Y,LEE M C. Friction analysis according to pretension of laparoscopy surgical robot instrument[J]. International Journal of Precision Engineering & Manufacturing,2011,12(2):259-266.
[10] KANEKO M,YAMASHITA T,TANIE K. Basic considerations on transmission characteristics for tendon drive robots[C]//International Conference on Advanced Robotics. IEEE,2002,827-832.
[11] 曹助家,顾占山. 欧拉公式在机械设计中的应用[J]. 机械制造,1994,32(2):10-11.CAO Zhujia,GU Zhanshan. Application of euler's formula in mechanical Design[J]. Machinery Manufacture,1994,32(2):10-11.
[12] HOWELL H G. 35-The friction of a fibre round a cylinder and its dependence upon cylinder radius[J]. Journal of the Textile Institute Transactions,1954,45(8):T575-T579.
[13] 魏铭森,陈蓉娟. 考虑纤维和纱线的弯曲性能影响后对CAPSTAN公式的修正[J]. 南通工学院学报,1997(1):61-67.WEI Mingsen,CHEN Rongjuan. Modification of CAPSTAN formula after considering the influence of fiber and yarn bending properties[J]. Journal of Nantong University of Technology,1997(1):61-67.
[14] PARK J W. Bending rigidity of yarns[J]. Textile Research Journal,2006,76(6):478-485.
[15] JUNG J H,PAN N,KANG T J. Generalized capstan problem:Bending rigidity,nonlinear friction,and extensibility effect[J]. Tribology International,2008,41(6):524-34.
[16] 毛谦德,李振清. 袖珍机械设计手册[M]. 北京:机械工业出版社,2007.MAO Qiande,LI Zhenqing. Pocket mechanical design manual[M]. Beijing:China Machine Press,2007.
[17] YOUNG F P B E. Friction of diamond,graphite,and carbon and the influence of surface films[J]. Proceedings of the Royal Society of London,1951,208(1095):444-455.
[18] 严自勉. 起重钢丝绳通过滑轮的偏角和包角对钢丝绳寿命的影响[J]. 制冷空调与电力机械,2004,25(B10):3-6.YAN Zimian. The influence of the deflection Angle and wrapping Angle of hoisting rope through pulley on the life of rope[J]. Refrigeration air conditioning and electrical machinery,2004,25(B10):3-6.
[19] HANNAFORD B,ROSEN J,FRIEDMAN D W,et al. Raven-II:An open platform for surgical robotics research[J]. IEEE Transactions on Biomedical Engineering,2013,60(4):954-959.
[20] JUNG J H,PAN N,KANG T J. Tension transmission via an elastic rod gripped by two circular-edged plates[J]. International Journal of Mechanical Sciences,2007,49(10):1095-1103.