| In recent years, minimally invasive surgery is the development directionand trend in field of surgery. It has received more and more attention frompatients and doctors. Minimally invasive surgery has small incision andpatients can quickly recover. In addition, it has better accuracy and highstability. Minimally invasive surgery robot is the actuator of minimallyinvasive surgery and it increasingly becomes a hot research field ofbiomedical engineering. Through the intergration of various displines,including computer software and hardware technology, advancedmanufacturing technology, artificial intelligence technology, modern medicalimaging and image processing technology, the level of surgical treatmemt hasbeen greatly improved. The existing minimally invasive robot still needssome improvement. This paper describes a design of multi-joint andsingle-wound abdominal minimally invasive surgery robot based on theprinciple of modularization, miniaturization and lightweight. This paper records an elaborate research on multi-joint and single-woundabdominal minimally invasive surgery robot. The main work includes threeaspects as follow:Firstly, completing the structure design of multi-joint and single-woundabdominal minimally invasive surgery robot and analyzing the operationprocedure of single-wound abdominal minimally invasive surgery.Secondly, accomplishing the kinematic analysis and micro-moveanalysis on one arm of the minimally invasive surgery robot and providing atheoretical basis for the subsequent control.Last, building the hardware control platform of the minimally invasivesurgery robot. Completing the minimally invasive surgery robot control basedon SDL and joystick. In addition, accomplishing human-computer interationwith force feedback using Novint Falcon and keyboard.The simulation and actual control show that the robot can achievesingle-wound surgery, and the wound is only about23mm in diameter, tomeet the basic requirements of the abdominal minimally invasive surgery. |
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