Development of a Cam-Based Minimally Invasive Surgical Instrument With Reduced Backlash

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-04-13 DOI:10.1002/rcs.70063

Jinhua Li, Yue Yu, Yuteng Bai, Chengcheng Cai, Xinquan Hao, Jianchang Zhao

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引用次数: 0

Abstract

Background

Due to the joint characteristics and friction, continuum surgical instruments based on hinge joints suffer from issues such as slack and hysteresis, which affect the control precision.

Methods

This study introduces cam-based surgical instruments. The variation in cable length during hinge joint rotation was analysed, prompting a redesign of the cam's outer contour. An experimental platform was built to compare the precision of the traditional circular wheel and the cam mechanism. A prototype of surgical instrument with the proposed design was constructed, which was also put into precision testing.

Results

According to the experimental results, the backlash of the cam mechanism was 82% lower than that of the circular wheel. The backlash of our surgical instrument was reduced by 60% at a 20-degree rotation.

Conclusions

This study shows great potential for improving the control precision of continuum surgical instruments with multiple pairs of hinge joints.

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基于凸轮的微创手术器械的研制

基于铰链关节的连续体手术器械由于关节的特性和摩擦，存在松弛和迟滞等问题，影响控制精度。方法介绍基于摄像头的手术器械。分析了铰链关节旋转过程中缆索长度的变化，从而重新设计了凸轮的外轮廓。建立了一个实验平台，对传统圆轮和凸轮机构的精度进行了比较。根据所提出的设计制作了手术器械样机，并进行了精密测试。结果实验结果表明，凸轮机构的侧隙比圆轮的侧隙小82%。我们的手术器械在旋转20度时的反弹减少了60%。结论本研究对提高多对铰链关节连续体手术器械的控制精度具有很大的潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.