Design And Research Of Multi-scenario Thoracoabdominal Minimally Invasive Surgery Robot

Minimally invasive surgery offers advantages over traditional open surgery,including smaller incisions,faster recovery,reduced risk of infection and complications,and less pain,making it widely used in various surgical procedures.However,conventional minimally invasive surgery has several problems,such as poor hand-eye coordination of the surgeon and limited freedom of instrument manipulation,leading to mediocre surgical operation flexibility.In addition,standing for long periods of time can lead to fatigue in the surgeon,while hand tremors in the assistant holding the endoscope can cause unstable visual feedback.Utilizing robotic technology can effectively solve these problems.Robotic minimally invasive surgery technology changes the traditional form of the surgeon holding the instrument during minimally invasive surgery with a mechanical arm on the surgical robot,which is used to hold and maneuver surgical instruments and endoscopes.The surgeon only needs to control the position of the mechanical arm and operate the surgical instrument at the end of the mechanical arm through an operating handle.The mechanical arm can maintain a stable position without shaking for a long time,reducing the workload for the surgeon and increasing the precision of the surgery.With support from the Joint Project of Jilin Province and Jilin University: Intelligent Chest and Abdominal Minimally Invasive Surgery Robot System for Multi-Scenario Human-Robot Collaboration,this paper develops and conducts relevant research on a new type of minimally invasive surgery robot system suitable for human-robot collaboration in multiple scenarios.The development of robots for thoracoabdominal laparoscopic surgery has been rapid,but existing surgical robots are primarily developed for a single surgical scenario.Some robotic systems are designed with only one mechanical arm for holding the endoscope,while others are designed with two to three mechanical arms to assist the surgeon during the procedure.Most four-arm robotic systems intended for general surgery also utilize a complete master-slave mode,which does not conform to the surgeon’s surgical habits and takes a long time to train.Additionally,the range of motion of the mechanical arms is limited,and the robotic system as a complete set occupies a large space,making it unsuitable for specialized surgeries and impractical for use in small and medium-sized hospitals.To address these issues,this paper designed a multi-scenario thoracoabdominal minimally invasive surgery robot by analyzing the requirements of minimally invasive surgery and combining them with the surgeon’s operating needs.The structure consists of four identically arranged mechanical arms positioned on both sides of the operating table,which are used to hold surgical instruments and endoscopes and adjust their position and posture.The mechanical arms are mainly divided into positioning and telecentric mechanisms,with the crucial telecentric mechanism employing a new type of circular arc guide mechanism and a modular layered design for the drive and transmission components to optimize the circular arc configuration and working space.The positioning mechanism uses three mutually perpendicular moving joints to adjust the position of the end tip.After analyzing the overall structure of the mechanical arms and the detailed design of each joint,the appropriate components were chosen.A coordinate system was established to analyze the working space of the mechanical arm’s end tip.The static structure module of ANSYS was used to analyze the load-bearing components on both the mechanical arm and the customized surgical table to verify the strength of critical structures and optimize the components.In order to construct the control system of the surgical robot,it is necessary to establish the robot’s base coordinate system and the reference coordinate system for each working joint of the mechanical arm.The modified Denavit-Hartenberg(D-H)method is applied for analysis,and the transformation matrix of the joint coordinates is established to solve the forward and inverse kinematics equations.Based on the practical situation,the control system is designed.After completing the overall design,the parts of the new surgical robot are drawn for processing and then assembled and debugged.After completing the debugging,an experimental platform is built to experimentally verify the design,including testing the attitude adjustment capability of the centric mechanism,the performance of the centric movement,the repeatability of the end positioning accuracy of the mechanical arm,as well as the operability of the mechanical arm in master-slave mode,to determine whether the surgical robot can meet the requirements of minimally invasive surgery.