Research Of Surgical Instrument For Robot Minimally Invasive Surgical System

In contrast to traditional and minimally invasive surgery, robotic minimally invasivesurgery can not only have advantage of a small wound, less bleeding and quick healingbut also can improve the quality of minimally invasive surgery, simultaneously, reducingdoctors’ greatly intensity. Much attention has been caused for this technology by thedeveloped countries as well as Chinese universities and scientific research institutionswhich also have studied thoroughly and deeply. In the topic of this study, the executedparts of robotic designed surgical instruments the designed surgical instruments whosefunctions, accuracy directly influence on operations.This paper is from the national―863‖project grants program that is researchedaiming at surgical instruments in abdominal cavity minimally invasive surgery roboticsystem. According to the request of the topic of this study, the surgical instruments aredesigned specifically in structure. In order to achieve quick change function, this paperintroduced the close-to-switch-signals-control section, and has specific instruction whichrealized the reading and recording on the surgical instruments of the relevantinformation.This paper has an analysis of environmental requirements in minimally invasive, thesurgical instruments and mechanical interface done by researchers, and the force of theended actuator to human tissue. It can be divided five pieces in structure and functionincluding surgical end actuator, surgical instruments box with transmission, devicedrivers, and the institutions module and the quick charge change interface betweendriving devices and surgical instruments box.Secondly, electrically-controlled auxiliary segments whose fulfill the fast changingof its function can be achievable is designed. And electric instrument controlling can berealized through using traditional51SCM to collect and get close to switch signals,where after by the integrated environment where port stays to carry out transmitting data,simultaneously it fulfill it operation in the way of displaying information on the interfaceand eventually memory chips need to be added to the electric instrument, the single chipmicrocomputer will read the relevant information of surgical instruments which isoperating. All demonstrated information can be achieved through Visual C++comeswith MSComm control interface.Finally analysis of kinematics needs to be made after accessory processing, theplatform should be put up be controlled solitarily-single axis movement and then bymulti-axis which verifies whether the degrees of freedom can couple and the credibilitybetween fast changing and limited-strength framework.