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Development of a mechanical decoupling surgical scissors for robot-assisted minimally invasive surgery

Published online by Cambridge University Press:  31 May 2021

Xingze Jin Open the ORCID record for Xingze Jin [Opens in a new window] ,
Mei Feng ,
Zhiwu Han ,
Ji Zhao ,
Hankun Cao  and
Yaoyuan Zhang
Xingze Jin
Affiliation:
School of Mechanical and Aerospace Engineering, Jilin University, Changchun City, China
Mei Feng*
Affiliation:
School of Mechanical and Aerospace Engineering, Jilin University, Changchun City, China
Zhiwu Han
Affiliation:
College of Biological and Agricultural Engineering, Jilin University, Changchun City, China
Ji Zhao
Affiliation:
School of Mechanical and Automation, Northeastern University, Shenyang City, China
Hankun Cao
Affiliation:
College of Automotive Engineering, Jilin University, Changchun City, China
Yaoyuan Zhang
Affiliation:
College of Automotive Engineering, Jilin University, Changchun City, China
*
*Corresponding author. Email: [email protected]
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Abstract

In minimally invasive surgery, surgical instruments with a wrist joint have better flexibility. However, the bending motion of the wrist joint causes a coupling motion between the end-effector and wrist joint, affecting the accuracy of the movement of the surgical instrument. Aiming at this problem, a new gear train decoupling method is proposed in the paper, which can automatically compensate for the coupled motion in real-time. Based on the performance tests of the instrument prototype, a series of decoupling effects tests are carried out. The test results show that the surgical instrument has excellent decoupling ability and stable performance.

Keywords

surgical instrumentminimally invasive surgeryrobot-assisted surgerysurgical robotmechanical decoupling
Type
Article
Information
Robotica , Volume 40 , Issue 2 , February 2022 , pp. 316 - 328
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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