Research On The Design Of Hysteroscopic Surgical Instruments And Force Perception Methods

Objective: Endometrial repair surgery based on hysteroscopy has important clinical research value and is the key to solve the problem of infertility in women.Traditional manual operation has problems such as large surgical wound,inaccurate stem cell implantation position,and low postoperative quality caused by long-time fatigue of doctors.Using robots to replace doctors for surgery can solve these problems,but doctors’ manipulation of robots for surgery will destroy the direct physical interaction between doctors and patients,and cannot effectively guarantee the quality of surgery.In view of the above problems,this paper proposes a hysteroscopic surgery experimental platform based on mechanical arm and a endometrial tissue scratch force sensing scheme based on FBGs,which provides a new surgical idea for improving the quality of endometrial repair surgery.Methods: Based on the process and mechanism of hysteroscopic endometrial repair surgery and the existing mechanical arm,the flexible surgical operation instruments and driving platform are designed to accurately control the hysteroscopic surgical instruments and operate according to the endometrial repair surgery process.An integrated scratching instrument based on FBGs is designed to detect the tiny stimulation force of the instrument to the intimal tissue.The scratch stimulation force is calculated by measuring the strain of the optical fiber,and the working state of the surgical instrument is indirectly obtained.Results: The designed hysteroscopic surgery experimental platform has been verified by animal experiments,and the scheme of doctors using robots to complete hysteroscopic surgery is feasible.The experimental platform designed according to the surgical process can effectively complete the removal of adhesion at the pathological tissues,tissue regeneration stimulation,stem cell implantation and other surgical operations.In order to solve the problem of force perception in robotic surgery,the designed force sensing sheath based on FBGs can achieve accurate measurement of the micro-scratching force of the regeneration stimulation of pathological tissue,and effectively ensure the quality of surgery.Conclusion: The experimental platform of hysteroscopy based on mechanical arm designed in this paper has been verified by animal experiments to have good performance,and can assist doctors to complete endometrial repair surgery.The force-sensing sheath of the integrated scratching instrument based on FBGs solves the force-sensing problem of the interaction between the scratching instrument and the uterine cavity tissue,accurately describes the working state of the scratching instrument,and doctors can control the operation through the feedback information.