| 面向喉部微创手术的经口腔单孔柔性机器人设计 |
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| 引用本文： | 陈炳森,谢叻. 面向喉部微创手术的经口腔单孔柔性机器人设计[J]. 江西师范大学学报(自然科学版), 2020, 44(3): 226-230. DOI: 10.16357/j.cnki.issn1000-5862.2020.03.02 |
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| 作者姓名： | 陈炳森 谢叻 |
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| 作者单位： | 1.上海交通大学国家数字化制造技术中心,上海 200030; 2.泉州师范学院,福建 泉州 362000 |
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| 基金项目： | 国家重点研发计划;国家自然科学基金;上海市科委科技支撑;泉州市科技计划;福建省科技计划;上海交通大学医疗机器人研究院;上海交通大学医工(理)交叉基金 |
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| 摘 要： | 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.
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| 关 键 词： | 喉部微创手术 经口腔手术机器人 柔性机器人 主从控制 |
The Design of a Transoral Single-Port Flexible Robot for Laryngeal Minimally Invasive Surgery |
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| CHEN Bingsen1,XIE Le1,' target="_blank" rel="external">2. The Design of a Transoral Single-Port Flexible Robot for Laryngeal Minimally Invasive Surgery[J]. Journal of Jiangxi Normal University (Natural Sciences Edition), 2020, 44(3): 226-230. DOI: 10.16357/j.cnki.issn1000-5862.2020.03.02 |
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| Authors: | CHEN Bingsen1,XIE Le1,' target=" _blank" rel=" external" >2 |
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| Affiliation: | 1.National Digital Manufacturing Technology Center,Shanghai Jiao Tong University,Shanghai 200030,China; 2.Quanzhou Normal University,Quanzhou Fujian 362000,China |
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| Abstract: | 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. |
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| Keywords: | laryngeal minimally invasive surgery transoral surgical robot flexible robot master-slave control |
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