面向喉部微创手术的经口腔单孔柔性机器人设计

传统喉部微创手术主要是借助于支撑喉镜进行的.而这种方式建立的手术通道狭长,手术视野及手术操作空间受限,存在着视觉盲区及操作盲区.该文针对以上问题,设计了一种新型的经口腔单孔柔性机器人,该柔性机器人可通过弯曲运动改善视觉盲区与手术操作盲区.柔性臂外径为10 mm,最大弯曲角度可达225°,并且实现了双段弯曲.柔性臂内部集成了医用内窥镜,并预留了2个器械通道,可满足复杂手术需求.该研究还进行了喉部微创手术模型实验,验证了柔性机器人进行手术的可行性.

The Design of a Transoral Single-Port Flexible Robot for Laryngeal Minimally Invasive Surgery

Minimally invasive laryngeal surgery is mainly performed with the help of retractor.However,in this way,the surgical space is narrow,the surgical vision and the surgical operation space are limited.A novel transoral surgical flexible robot is designed,which can expand the surgical vision and operation space.The diameter of the flexible robot is 10 mm,the maximum bending angle can reach 225 °,and double-segment bending is realized.The flexible robot reserves two surgical channels for surgical instruments and integrates an endoscope.A model test of vocal cord benign tumor resection is performed with the robot to verify the feasibility of the flexible robot for laryngeal surgery.