Research And Development Of Surgical Robot For Flexible Ureteroscopy

With the continuous innovation of flexible ureteroscopy(FURS)technology and the increasingly minimally invasive treatment of endoluminal devices,the importance of flexible endoscopic surgery in the field of urolithiasis has become increasingly prominent.Traditional ureteral flexible endoscopic surgery has a small operating space,and the operator is susceptible to fatigue,which affects the quality of the operation and there is a risk of radiation exposure during the operation.With the continuous improvement of robot technology,various endoscopic robots have been successfully applied.The development of Furs-robot has provided effective means to improve the safety and ergonomics of flexible endoscopic surgery.The research on demand analysis and motion-characteristics extraction,mechanism design and lightweight analysis,dual-arm control strategies of a FURS-robot were carried on.A master-slave system for a FURS-robot for the treatment of kidney stones is designed and developed.And related experimental research has been carried out.First of all,according to the clinical needs and motion-characteristics of FURS-robot,the work plan and motion requirements of the flexible endoscopic robot master-slave system are proposed.The chapter designed structure of ureteroscopy-holder arm and Ansys simulation was used for lightweight and strength check.Then,the structure of the base was designed and the motors were selected.Through functional experiments,it was proved that the robot structure can realize the movement of translation,rotation,and tip flexion,and fiber translation,and ureteroscopy-holder arm lifting.Then,in response to the requirements of the entrance restriction of the FURS-robot,a dual-arm coordinated control strategy is proposed,which integrates the sheath-holder arm,establishes DH parameters,and solves the inverse kinematics algorithm with RCM constraints.Through Matlab,the trajectory of rotation around RCM is simulated and visualized in Sim Mechanics to verify the effectiveness of the entry constraint algorithm.By simulating the point cloud diagram of the working space of the dual-arm robot,it is verified that the working space meets the design requirements.Furthermore,based on the above research content,the master-side remote console is designed,and the basic model of the master-slave prototype of the FURS-robot system is developed.It is verified on the simulated surgery platform that the end of the hose can traverse the space and motion of the kidney.And it is more stable than manual operation.The test also shows that the accuracy meets the basic needs of users with a movement error of 1mm and a rotation error of 1 °.The animal experiments has shown that the satisfaction with the FURS-robotic surgery is higher than traditional manual surgery.