Development And Research Of The Single-channel Snake Surgical Robot

The minimally invasive surgery is a revolution to the traditional medicine. The minimally invasive surgical instruments played a decisive role in this transformation. With the development of the technology, the robot technology is gradually applied to invasive surgical treatment. As its forward-looking technology, the minimally invasive surgical robot is the development direction of minimally invasive surgical instruments. Since the surgery environment is complex, the minimally invasive surgical robot must be flexible enough to avoid vital tissues and organs. In order to overcome the problem of the low flexibility and single use, this paper carried out the research and development of micro-channel snake surgical robot, and do some exploration in these areas. This paper introduces a new minimally invasive surgical robot- Micro-channel snake surgical robot. Snake surgical robot described in this article designed to achieve a multi-degree of freedom, and its flexibility to meet current environmental requirements in celiac minimally invasive surgery. In this paper, snake surgical robot research methods will be introduced in the structural design, robot control method, kinematics studies and experiments in detail. Through the introduction of this paper, the research plan of the snake surgical robot was elaborated in this paper. It shows that the research and development of serpentine surgery robot has certain clinical application value in the future.In developing surgical robot snake, the structure and the control of the robot are two main contents. Based on the domestic and overseas research, combining the problem in this paper which will be solved, we designed a robot motional unit: snake mechanism. Meanwhile, according to PID control theory, the control platform of the snake surgical robot was built. DH parameter method was used in the forward kinematics study of the snake robot. Finally we built a snake-like robotic surgery system. The system can combine the developing carbon nanotube which can produce X-ray can achieve the low-dose radiation therapy, which can ensure therapeutic effect while reducing the radiation dose. This paper got the forward Kinematics equation of the snake surgical robot by the research which is prepare for the subsequent study of the inverse kinematics and the master-slave control.