{"title":"基于凸轮的微创手术器械的研制","authors":"Jinhua Li, Yue Yu, Yuteng Bai, Chengcheng Cai, Xinquan Hao, Jianchang Zhao","doi":"10.1002/rcs.70063","DOIUrl":null,"url":null,"abstract":"<div>\n \n \n <section>\n \n <h3> Background</h3>\n \n <p>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.</p>\n </section>\n \n <section>\n \n <h3> Methods</h3>\n \n <p>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.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>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.</p>\n </section>\n \n <section>\n \n <h3> Conclusions</h3>\n \n <p>This study shows great potential for improving the control precision of continuum surgical instruments with multiple pairs of hinge joints.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2025-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Development of a Cam-Based Minimally Invasive Surgical Instrument With Reduced Backlash\",\"authors\":\"Jinhua Li, Yue Yu, Yuteng Bai, Chengcheng Cai, Xinquan Hao, Jianchang Zhao\",\"doi\":\"10.1002/rcs.70063\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n \\n <section>\\n \\n <h3> Background</h3>\\n \\n <p>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.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Methods</h3>\\n \\n <p>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.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Results</h3>\\n \\n <p>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.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Conclusions</h3>\\n \\n <p>This study shows great potential for improving the control precision of continuum surgical instruments with multiple pairs of hinge joints.</p>\\n </section>\\n </div>\",\"PeriodicalId\":50311,\"journal\":{\"name\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"volume\":\"21 2\",\"pages\":\"\"},\"PeriodicalIF\":2.3000,\"publicationDate\":\"2025-04-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"FirstCategoryId\":\"3\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70063\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"SURGERY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Medical Robotics and Computer Assisted Surgery","FirstCategoryId":"3","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70063","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"SURGERY","Score":null,"Total":0}
Development of a Cam-Based Minimally Invasive Surgical Instrument With Reduced Backlash
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.
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.
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