微创手术机械臂的可控刚度技术综述

针对微创手术中所使用的机械臂存在的灵活性和负载能力之间的矛盾,提出了手术机械臂要具有可控刚度这一特性;材料和构型对微创手术机械臂性能有着很大的影响,目前现有的微创手术机械臂的可控刚度技术原理,主要包含了冗余驱动、材料变刚度、颗粒阻塞、层干扰、型锁合等可控刚度方法;通过文献分析法,分析研究了不同可控刚度方法的基本原理和研究现状,在安全性、响应时间等方面验证了上述可控刚度变刚度方法是否可以安全用于微创手术中;基于目前微创手术机械臂存在的问题,提出了可控刚度技术的未来发展方向,主要包括结构创新、建模控制以及安全性等。

Review of Controllable Stiffness Techniques for Minimally Invasive Surgical Manipulator

In view of the contradiction between the flexibility and load capacity of the robotic arm used in minimally invasive surgery, it is proposed that the surgical robot arm has the characteristics of controllable stiffness. The material and configuration have a great influence on the performance of the minimally invasive surgical manipulator. The current controllable stiffness technology of the minimally invasive surgical manipulator mainly includes redundant drive, material stiffness, particle blockage, layer interference, type locking, and equal controllable stiffness method. Through the literature analysis method, the basic principle and research status of different controllable stiffness methods are analyzed and reviewed. It is verified whether the above controllable stiffness and stiffness method can be safely used in minimally invasive surgery in terms of safety and response time. Based on the existing problems of minimally invasive surgical manipulators, the future development direction of controllable stiffness technology is proposed, including structural innovation, modeling control, and safety.