血管介入手术机器人新型夹紧机构设计

D. Zhao, Shuxiang Guo, Chuqiao Lyu, Yonggang Yan, Z. Lin
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摘要

血管介入手术机器人(VISR)的应用可以有效地保护医生免受辐射的伤害。然而,血管介入手术机器人(VISR)的使用仍然受到一些限制。其局限性之一是主从结构的不一致性导致整个机器人结构的复杂性。另一个限制是,主机械手的操作方法与血管介入手术不同,这使得医生很难运用自己的手术经验。本文提出了一种新的夹紧机构。它可以在主侧和从侧同时使用,结构相同,主侧的操作方法与传统手术相同。这意味着采用所提出的夹紧机构,机器人将具有主从结构的一致性,有利于机器人结构的简化。此外,在手术过程中也可以为医生提供更好的手术在场感。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Novel Clamping Mechanism Design for Vascular Interventional Surgery Robot
The application of vascular interventional surgery robots (VISR) can protect doctor from radiation effectively. However, the use of vascular interventional surgery robots (VISR) is still subject to some limitations. One of the limitations is that the inconsistency of the master-slave structure leads to the complexity of the entire robot structure. Another limitation is that the operation method of the master manipulator is different from the vascular interventional surgery, which makes it difficult for doctors to use their surgical experience. In this paper, a novel clamping mechanism was proposed. It can be used on both the master side and the slave side with the same structure and the operation methods on the master side is the same as that of traditional surgery. It means that the robot will have the consistency of master-slave structure by using the proposed clamping mechanism, which is advantageous for simplification of robot structure. In addition, a better surgical presence can also be provided to doctors during operation.
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