Design, Modeling and Simulation of An Omnidirectional Steerable Surgical Forceps for Laparoscopic Surgery

Zhu，Xiaolong1; Xiao，Xiao1; Ren，Hongliang2; Meng，Max Q.H.1

10.1109/M2VIP49856.2021.9665077

2021

27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

978-1-6654-3154-5

2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021

304-309

NOV 26-28, 2021

null,Shanghai,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Laparoscopic surgery is one of the most representative applications of minimally invasive surgeries. In this paper, we present a miniature omnidirectional steerable surgical forceps (OSSF), which is driven by superelastic Ni-Ti wires. The proposed OSSF allows the superelastic Ni-Ti wires to be deformed locally, thereby minimizing its bending radius while reducing the number of mechanical parts. The important features of the proposed OSSF are small size and high dexterity, which make it can access confined and narrow surgical sites, also improve the safety. This paper mainly describes the design and working principle of OSSF, establishes the mathematical model of the motion transmission mechanism, and performs the finite element analysis (FEA). The simulation results show that the distal flexible joint can achieve 29.9 deformation under the vertical load of 2N, and the bending radius is 7.5mm. The difference between the simulation and the mathematical model is less than 2.12%, which indicates the feasibility of the derived theoretical model.

Minimally invasive surgery Mechatronics Simulation Machine vision Wires Bending Mathematical models

第一

英语

CPCI-S ; EI

Shenzhen Key Laboratory of Robotics Perception and Intelligence[ZDSYS20200810171800001]

Automation & Control Systems ; Computer Science ; Engineering

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Multidisciplinary

WOS:000783817900052

20220811682695

Binary alloys ; Intelligent robots ; Robotic surgery ; Robotics ; Surgical equipment ; Titanium alloys

Biomedical Engineering:461.1 ; Medicine and Pharmacology:461.6 ; Biomedical Equipment, General:462.1 ; Titanium and Alloys:542.3 ; Robotics:731.5 ; Robot Applications:731.6

2-s2.0-85124808001

Scopus

1.Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,518055,China
2.Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong,Hong Kong

Zhu，Xiaolong,Xiao，Xiao,Ren，Hongliang,et al. Design, Modeling and Simulation of An Omnidirectional Steerable Surgical Forceps for Laparoscopic Surgery[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:304-309.