Design Of Mechanism And Realization Of Manual Intervention Function Of A Renal Interventional Robot

As a typical representative of natural orifice transluminal endoscopic surgery,flexible ureteroscopy has many advantages such as non-invasiveness,less bleeding,quick recovery,and fewer complications,thus possessing great advantages in the treatment of intrarenal calculi diseases.However,flexible ureteroscopy also shows many problems such as multi-curvature movement,high operational difficulty,long learning curve,and easy fatigue of the operator,which limits the application of this technique.Robot-assisted surgery can overcome the above shortcomings.This paper focuses on the key issues related to robot-assisted flexible ureteroscopy and conducts researches on transurethral renal interventional robot,achieving the following results:Firstly,according to the operational characteristics of flexible ureteroscopy and the knowledge of ergonomics,the design principle of the master manipulator is proposed,and its structure and configuration are determined.Then the linear mechanism,rotation mechanism and deflection mechanism of the master manipulator are designed respectively,and the physical prototype is determined.Secondly,combined with the motion characteristics of flexible ureteroscopy,the functional requirements for slave manipulator of the robot are determined.The active motion mechanism,the passive adjustment mechanism and the fiber micro-transport mechanism of the slave manipulator are analyzed and designed respectively,and the layout of the slave manipulator is determined.Furthermore,according to the characteristics of flexible ureteroscope,the kinematics analysis of the ureteroscope is performed by the constant curvature model,and the forward and inverse kinematics are solved.Thirdly,in order to ensure the safety and smoothness of robotic-assisted flexible ureteroscopy surgery,the manual intervention function is designed,and disinfection measures of the ureteroscope and the robot system are proposed to ensure a sterile environment during the surgery.Finally,the calibration experiment of flexible ureteroscope is designed to obtain the relationship between the deflection angle of the ureteroscope end and the driving angle,and the model experiments and animal experiments are carried out using the robot system,which demonstrates the feasibility and effectiveness of robot-assisted flexible ureteroscopy surgery.