Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery

IF 0.8 4区医学 Q4 ENGINEERING, BIOMEDICAL

Journal of Medical Devices-Transactions of the Asme Pub Date : 2022-11-24 DOI:10.1115/1.4056319

Zhengyu Wang, Wenjun Song, Sen Qian, Daoming Wang, Zirui Jia, Xiang Yu

{"title":"Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery","authors":"Zhengyu Wang, Wenjun Song, Sen Qian, Daoming Wang, Zirui Jia, Xiang Yu","doi":"10.1115/1.4056319","DOIUrl":null,"url":null,"abstract":"\n Microlaryngoscopic surgery is a type of laryngeal surgery performed by surgeons using microsurgical instruments under the observation of a specially designed laryngoscope. While performing a microlaryngoscopic operation, the surgeons must maintain their arm position for a long time, which can cause arm soreness and affect the accuracy of the operation. In this study, a tendon-sheath-driven upper limb auxiliary exoskeleton (TULAE) is proposed and developed. The flexible cables are compressed by a wave-shaped pressing mechanism to fix the TULAE's rotating joints. The TULAE can assist surgeons in laryngoscopy operations by providing suitable support for their arms to reduce the surgical risks caused by muscle fatigue. The TULAE has 4 degrees of freedom (DOF) on each arm. The shoulder flexion/extension, shoulder abduction/adduction and elbow internal rotation/external rotation can be fixed by the control box. The shoulder internal rotation/ external rotation is a passive DOF obtained using hinges. The TULAE's shoulder, upper arm and forearm links are designed with lengths adjustable to accommodate wearers of different heights and weights. A large-scale but risk-free workspace is analyzed through rigid body kinematics using the spinor method. The control hardware of the TULAE is developed based on the open-source Arduino board. Finally, the experimental results show that this TULAE can significantly reduce the range of wrists shaking and assist surgeons in laryngoscopy surgery.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.8000,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Medical Devices-Transactions of the Asme","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1115/1.4056319","RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}

引用次数: 0

Abstract

Microlaryngoscopic surgery is a type of laryngeal surgery performed by surgeons using microsurgical instruments under the observation of a specially designed laryngoscope. While performing a microlaryngoscopic operation, the surgeons must maintain their arm position for a long time, which can cause arm soreness and affect the accuracy of the operation. In this study, a tendon-sheath-driven upper limb auxiliary exoskeleton (TULAE) is proposed and developed. The flexible cables are compressed by a wave-shaped pressing mechanism to fix the TULAE's rotating joints. The TULAE can assist surgeons in laryngoscopy operations by providing suitable support for their arms to reduce the surgical risks caused by muscle fatigue. The TULAE has 4 degrees of freedom (DOF) on each arm. The shoulder flexion/extension, shoulder abduction/adduction and elbow internal rotation/external rotation can be fixed by the control box. The shoulder internal rotation/ external rotation is a passive DOF obtained using hinges. The TULAE's shoulder, upper arm and forearm links are designed with lengths adjustable to accommodate wearers of different heights and weights. A large-scale but risk-free workspace is analyzed through rigid body kinematics using the spinor method. The control hardware of the TULAE is developed based on the open-source Arduino board. Finally, the experimental results show that this TULAE can significantly reduce the range of wrists shaking and assist surgeons in laryngoscopy surgery.

查看原文本刊更多论文

一种新型肌腱鞘驱动的上肢外骨骼的设计，用于辅助外科医生进行喉镜手术

显微喉镜手术是外科医生在专门设计的喉镜观察下使用显微手术器械进行的一种喉部手术。在进行喉镜手术时，外科医生必须长时间保持手臂姿势，这样会造成手臂酸痛，影响手术的准确性。本研究提出并开发了一种肌腱鞘驱动的上肢辅助外骨骼(TULAE)。柔性电缆被一个波浪形的压紧机构压缩，以固定TULAE的旋转接头。TULAE可以帮助外科医生进行喉镜手术，为他们的手臂提供合适的支撑，以减少因肌肉疲劳引起的手术风险。TULAE的每只手臂上都有4个自由度。肩关节屈伸、外展、内收、肘关节内旋、外旋均可通过控制箱固定。肩部内旋/外旋是利用铰链获得的被动自由度。TULAE的肩部、上臂和前臂连接的长度可调节，以适应不同身高和体重的佩戴者。采用旋量法对大型无风险工作空间进行了刚体运动学分析。TULAE的控制硬件是基于开源的Arduino板开发的。最后，实验结果表明，该TULAE可以明显减小手腕抖动的范围，辅助外科医生进行喉镜手术。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Journal of Medical Devices-Transactions of the Asme ENGINEERING, BIOMEDICAL-

CiteScore

1.80

自引率

11.10%

发文量

审稿时长

6-12 weeks

期刊介绍： The Journal of Medical Devices presents papers on medical devices that improve diagnostic, interventional and therapeutic treatments focusing on applied research and the development of new medical devices or instrumentation. It provides special coverage of novel devices that allow new surgical strategies, new methods of drug delivery, or possible reductions in the complexity, cost, or adverse results of health care. The Design Innovation category features papers focusing on novel devices, including papers with limited clinical or engineering results. The Medical Device News section provides coverage of advances, trends, and events.