Research And Development On Slave Manipulator Of The Robotic System For Laryngeal Surgery

A surgical robotic system named MicrohandⅡwas developed for minimally invasive surgery of laryngeal surgery. The system could replace special surgeon for ENT surgery, performing laryngeal surgery in the narrow space of throat. According to this robotic system, we could take advantages of both the surgeons'experiences and robotic technique in MIS. The patients'pains will be reduce with high qualities surgery.Firstly, scientific analysis was taken on the task, basal operation and working space. And a detailed description about design principle and operations in phase of the slave manipulator was discussed for laryngeal surgical robotic system. By using Denavit-Hartenberg method, a mathematic model was founded. And the optimization of structures of salve manipulator was carried out.Secondly, special tools for the robot were alternated according to the characteristic of laryngeal surgery. An open-closed mechanism driven by micro step motor was designed to transmission to placidly change revolve transmission into linear transmission. Rotation mechanism and quick-replacing interface were added to satisfy the requirement of better gestures and frequently quick replacing instruments. Detailed design of mechanical structures for micro manipulator was done after the analysis of project principle. Besides, problem discussion in components manufacturing was added to the end.Finally, great deal of research and tests were taken on both slave and micro manipulators before animal experiment. Enough capabilities parameters had been got for preparations for laryngeal surgery. The experiment on surgery for cutting knub tissue from vocal cords was well performed. The animal experimental results show that it is possible to apply the system to perform current minimally invasive surgery for throat through laryngoscope with high precise and dexterity.