A Novel Steerable Single Layer Tubes of Surgcial Manipulator Based on Ni-Ti Alloy

2018 2nd International Conference on Artificial Intelligence Applications and Technologies

计算机科学

Zhang, Zhaoying^1,2 ; Zhang, Fan^1,2 ; 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 of Shanghai of Engineering Science, Shanghai University of Engineering Science, Longteng Road No.333, Song Jiang District, Shang Hai

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: 3-d modeling;    Different sizes;    Minimally invasive surgeries (MIS);    Nickel titanium alloy;    Pain perception;    Positioning accuracy;    Steerability;    Superelasticity;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/435/1/012065/pdf
DOI  :  10.1088/1757-899X/435/1/012065

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Objective Minimally Invasive Surgery (MIS) requires armamentarium with high positioning accuracy and maneuverability. At the same time, the equipment need have more functions and smaller size, it can reduce patient's operative incision and pain perception when in operating can still keep steerability and stability. Method. Traditional design with multi-tubes assemabled, we designed a new stucture which just have single layer tube Results Finite element method can analysis this model which designed by another 3D drawing software in different size, varied exteral force can conclude that the angle of end deformation. 3D model adopted the isometric atom with nickel titanium alloy we take advantage of Ni-Ti alloy's superelasticity which can recover to orignal shape in recoverable deformation interval, realise proximal end control distal end.