内镜柔性器械腱鞘传动模型及实验研究
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1.上海理工大学;2.上海理工大学医疗器械与食品学院

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国家自然科学基金项目(51735003),上海市科委项目(18441900200)


Transmission model of the tendon-sheath system for the endoscopic flexible instrument and experimental study
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Shanghai Institute for Minimally Invasive Therapy, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology,

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    摘要:

    摘要 目的:本文建立了内镜柔性器械腱鞘系统的推力传动模型,并研究了影响传动效率的关键因素。方法:建立了腱鞘系统在器械推送作用下的力和位移的传动模型并进行了仿真计算;搭建了腱鞘系统传动测试的实验平台以验证模型的准确性,研究了传动速度、腱鞘直径比、弯曲半径等对传动效率的影响;结果:腱鞘传动过程中存在着显著的非线性传递现象,传动模型仿真与实验结果基本符合;传动速度、腱鞘直径比、弯曲半径均对内镜柔性器械的推力传动有较大影响,对位移传动的影响相对小一些。结论:该模型可用于内镜柔性器械中腱鞘系统推力传动的计算,提供给医生末端的力反馈,以保证器械的安全操作和提高手术效果;在内镜柔性器械的精准控制中需要综合考虑传动速度、腱鞘传动比、弯曲半径等对运动传递的影响。

    Abstract:

    Abstract:Objective This paper proposed the pushing transmission models in the tendon-sheath actuation endoscopic flexible instrument in push-push configuration and explored the key influencing factors. Methods The force and displacement transmission models were built and simulated. For validation, a tendon-sheath transmission-testing platform was designed. Besides, the influencing factors, such as the transmission velocity,the ratio of the tendon-sheath diameters, the radius of the curvature, are explored using this setup. Results There are nonlinear phenomenon in the force and displacement transmission. The model simulation result accord quite well with the experiment result. Above-mentioned factors have great effect on the force transmission, smaller effect on the displacement transmission. Conclusions Proposed models can give reliable predictions of the force and displacement transmission in the endoscopic flexible instrument in push-push configuration to provide the doctors the end feedback, which will ensure the safe operation and improve the surgical result. For better design and control of the flexible instrument, the transmission velocity, the ratio of the tendon-sheath diameters, the radius of the curvature must be considered.

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  • 收稿日期:2020-07-06
  • 最后修改日期:2020-08-21
  • 录用日期:2020-08-24
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