Research On Biomechanics Of Soft Tissue In Minimally Invasive Surgery

The rapid development of minimally invasive surgery has brought us great convenience. It can not only reduce the pain in the operation, but also reduce the time of hospitalization. Meanwhile it also has congenital defects; one of the most important points is that it is lack of force feedback technology, which is equivalent to a person without a sense of touch. Thus, it has become a hot topic to study the minimally invasive surgery force feedback. The paper presents a new way from the aspect of biomechanics, according to the surgery requirements, biomechanical experiments are carried out to test the tissue properties, and the tissue mechanical models are established based on the experimental data;Accoding to the need of establishing the mechanical model, sixdegrees of freedom mechanical testing platform with high precision force sensor is built. The platform design part includes the mechanical system design and theelectrical system design. The mechanical system part includes the position adjustment mechanism and the posture adjustment mechanism. For the position adjusting mechanism, the researcher selects an improved gantry Cartesian type institution and equips each three individual directions with a precision module. And posture adjustment mechanism is composed of three potional joint.The eletrical system is driven by the control mode of the(PC-motion control card-board-motor driver motor). Then the data obtained from the sensor is transferred into PC through data acquisition card for processing. The researcher does two invasive experiments(aspiration and cutting).The researcher has prepared the experimental necessities an analyzed the effect of operation parameters on force before the experiment. A mechanical model of four types of operation with multiple parameters is established based on the experiment data. The significance of this mechanical model is that doctors have a preliminary estimate of the forces that operate under certain conditions, which will prevent doctors from operating in an effort to reduce the tisk of surgery.