A Passive Snake-like Arm Based on Wire-driven Mechanism for Laparoscopic Surgery

2018 2nd International Conference on Artificial Intelligence Applications and Technologies

计算机科学

Hu, Tianyu^1 ; Wang, Yan^1 ; Ma, Baoping^1 ; Zhang, Fan^2 ; Sun, Jing^3 ; Zheng, Minhua^3 ; Pan, Ruijun^4

College of Mechanical Engineering, Shanghai University of Engineering Science, Longteng Road No. 333, Songjiang District, Shanghai

201620, China^1

Intelligent Robotics Research Center, Shanghai University of Engineering Science, Longteng Road No. 333, Songjiang District, Shanghai

201620, China^2

Department of General Surgery, Shanghai Minimally Invasive Surgery Center, Ruijin Hospital, Shanghai Jiao Tong University, School of Medicine, Shanghai

200025, China^3

Department of Digestive Surgery, Shanghai Minimally Invasive Surgery Center, Ruijin Hospital, Shanghai Jiao Tong University, School of Medicine, Shanghai

200025, China^4

关键词: Best position;    Laparoscopic surgery;    Large workspace;    Locking devices;    Locking force;    Main bodies;    Mechanical calculations;    Remote center of motions;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/435/1/012058/pdf
DOI  :  10.1088/1757-899X/435/1/012058

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

In this paper, a passive snake-Like arm based on wire-driven mechanism is proposed, which can be connected with remote center of motion (RCM) mechanism to form a laparoscope-holder robot and be used in laparoscopic surgery. The purpose of the snake-Like arm is to replace traditional multi-joint manipulator, making it possible for the robot to assist the surgeon in the best position in a surgery. The snake-Like arm consists of a main body composed of four arm units and a wire locking device with 12 wire locking units. The arm units are connected by hook hinges. Four classes force amplificatory structure is adopted in the wire locking unit. The detail structure and working principle of the wire locking device are proposed in this paper. The wire tensioning and guiding mechanism as well as the layout of wires are also introduced in this paper. Mechanical calculation of the force amplicatory structure is proposed in this paper to ensure that sufficient locking force can be provided. The workspace of the snake-Like arm is drawn by simulation, and the large workspace allows the snake-Like arm to be used in most laparoscopic surgeries.