| A surgical robotic system was developed for minimally invasive surgery of laryngeal surgery in this paper. 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 operation methods was discussed for laryngeal surgical robotic system.Secondly, we divided the slave manipulator into three parts: micro-manipulator, the positive part and the negative part, then we develop the structure of them separately. Concretely we combine the open-close joint with pitch joint, which can minish the diameter of the micro-manipulator in order to avoid the collision of two manipulators. We also optimize the mechanism of quick-change with ADAMS, making use of the mechanism of parallelogram to simplify the positive part. Based on the ergonomics, our negative part which has 6 DOFs just has 2 brakes. The virtual model of the robot is established by using SolidWorks and ADAMS/View.In order to analyze kinematic and dynamic performances of surgical robot, the dynamic simulation of the positive part was completed with the help of ADAMS, and we make a conclusion that there is no collision between all joints, and also we choice the appropriate motor for joints according to the result of the simulation.Finally, We set up a virtual control system, and integrate both the mechanical model and the controls system combined with ADAMS and SIMULINK, then run the collaborative simulation repeatedly until a more practical controller is achieved. The simulation 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. |
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