Mechanical Design And Analysis Of In Vivo Robots Using Magnetic Anchoring And Guidance System

Laparoendoscopic single-site surgery has not only the advantages of less pain,reducing surgical complications and shortening hospital stay, but also has the perfectsurgical results, so it is a kind of promising surgical approach. Currently surgical robothas an operation with long tools which are inserted into the abdominal cavity, whichleads to the interaction of different tools and restriction of the incision, especially for thelaparoendoscopic single-site surgery. In order to solve the problems mentioned above,people begin to develop the micro surgical robot which can work entirely in theabdominal cavity. This kind of robot can completely eliminate the restriction of incisionand the interference of different tools. In addition, by cooperating, the in vivo robots canfinish the more complex surgery. So, our task of developing the in vivo visual unit andtask assistance unit is meaningful.Firstly, this article analyzes the functional requirements and work environment ofvisual unit and task assistance unit, and develops the overall scheme. For the visual unit,two schemes have been made based on volume and reliability respectively. Dependingon the schemes, the key parameters and forms of transmission are determined, and themechanical designs of the two units have been finished, including the design oftransmission mechanism, executive mechanism, shells, swing mechanism and so on.Then, the software ANSYS is used to simulate the magnetic field of permanentmagnet NdFeB, at the same time, some data of magnetic force has been got. TheIntensity of the key parts of visual unit and task assistance unit has been checked toensure reliable work. Kinematic analysis of different executive mechanisms of the twounits has been made to ensure the appropriate working speed and range of motion.Finally, some experiments are done to measure the magnetic force, using theexperimental data, the results of simulation are checked and the approximaterelationship between magnetic force and different factors are got. In addition, severalexperiments have been done using the prototypes of visual unit and task assistance unitto check the performance.