Design And Study Of A Novel Single-hole Minimally Invasive Surgical Robot

With the continuous development of medical technology,traditional open surgery is gradually being replaced by minimally invasive surgery.Minimally invasive surgery has many advantages over ordinary open surgery,including smaller incisions,faster recovery time,less post-operative pain and lower risk of post-operative infection.In recent years,with the further development of minimally invasive surgery,single-port access(single-port)minimally invasive surgery has become popular.Compared to normal minimally invasive surgery,single-port minimally invasive surgery reduces the number of skin incisions to just one,thus further reducing trauma and bleeding.However,single-port minimally invasive surgery requires a high level of incision size and precision,is prone to interference with collisions,and has high requirements for single-port minimally invasive surgical instruments in terms of load capacity and dexterity.In this paper,the specific structure,kinematics and control strategy aspects of the single-hole minimally invasive surgical robot system,which was developed independently for the needs of single-hole minimally invasive surgery,are investigated in the following paper:A single-hole minimally invasive surgical robot configuration design was carried out.By analysing the requirements for minimally invasive surgery and the basic design of the single-hole minimally invasive surgical robot,the robot’s configuration was analysed,including the position adjustment mechanism,the telecentric mechanism,the degrees of freedom of the surgical instruments and the form of the joints,and the respective configurations were determined.The dimensions and movement space of the two active control modes of the robot,the telecentric mechanism and the surgical instruments,are analysed and studied.The analysis shows that the minimally invasive surgical robot meets the working space requirements for minimally invasive surgery.A detailed structural design of the single-hole minimally invasive surgical robot was carried out.This includes the detailed structural design of the position adjustment mechanism,the telecentric mechanism and the surgical instruments.The design theory knowledge is used to analyse the selection of the structure,including the selection of the drive motor and the corresponding calculation and selection of the wire rope of the surgical instruments;the key structures in the robot structure are simulated statically and the cross-sectional dimensions are optimised,the overall 3D model of the single-hole minimally invasive surgical robot is completed and the operation process of the single-hole minimally invasive surgical robot is analysed in detail.An analysis of the single-hole minimally invasive surgical robot for kinematics and control strategy is carried out.According to the structure of each part of the single-hole minimally invasive surgical robot,different methods were used to solve the kinematics of each part.The coordinate system of the telecentric mechanism was established using the improved D-H parameter method,the positive kinematics of the surgical instrument was obtained using spatial geometry and generalized matrix variation,and the inverse kinematic equations were solved using the dichotomy method;the relationship between the amount of change in the rope length of the wire rope and the angle of change of the joints to control the motion of each joint was analysed.By analysing the master and slave robot configurations,the master-slave motion mapping relationship is established,and the position incremental control and hand-eye coordination control in the master-slave control strategy are investigated.An experimental study related to the single-hole minimally invasive surgical robot.The performance indicators of the telecentric mechanism and the single-hole surgical instruments of the single-hole minimally invasive surgical robot are verified and the previous chapters are experimentally validated.The experiments include the construction of the hardware system and integrated system of the single-hole minimally invasive surgical robot;the testing of the motion space and motion accuracy of the telecentric mechanism;the experiments on the motion space,mechanical performance,kinematic verification,repetitive motion accuracy and master-slave following of the single-hole surgical instrument;the experiments on the overall operational performance of the single-hole minimally invasive surgical robot;and the verification of the performance of the entire single-hole minimally invasive surgical robot through the above experiments.The performance of the single-port minimally invasive surgical robot is verified through the above experiments.