首页|A Novel Cable-Driven Soft Robot for Surgery

A Novel Cable-Driven Soft Robot for Surgery

扫码查看
原文链接
  • NETL
  • NSTL
  • 万方数据
  • 维普
Robot-assisted laparoscopic radical prostatectomy(RARP)is widely used to treat prostate cancer.The rigid instruments primarily used in RARP cannot overcome the problem of blind areas in surgery and lead to more trauma such as more incision for the passage of the instrument and additional tissue damage caused by rigid instruments.Soft robots are relatively flexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument.A soft robot system for single-port transvesical robot-assisted radical prostatectomy(STvRARP)is developed in this study.The soft manipulator with 10 mm in diameter and a maximum bending angle of 270° has good flexibility and dexterity.The design and mechanical structure of the soft robot are described.The kinematics of the soft manipulator is established and the inverse kinematics is compensated based on the characteristics of the designed soft manipulator.The master-slave control system of soft robot for surgery is built and the feasibility of the designed soft robot is verified.

soft robotkinematics modelrobot-assisted surgery

李茹、陈方、俞文伟、IGARASH Tatsuo、舒雄鹏、谢叻

展开 >

Institute of Forming Technology and Equipment,School of Materials Science and Engineering,Shanghai Jiao Tong University,Shanghai 200030,China

The Sixth People's Hospital Affiliated to Shanghai Jiao Tong University,Shanghai 200233,China

Center for Frontier Medical Engineering,Chiba University,Chiba 263-8522,Japan

Seirei Sakura Citizen Hospital,Chiba 285-8765,Japan

Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200030,China

School of Mathematics and Computer Science,Quanzhou Normal University,Quanzhou 362000,Fujian,China

展开 >

国家自然科学基金国家自然科学基金国家自然科学基金国家自然科学基金Project of the Science and Technology Commission of Shanghai MunicipalityResearch Project of Institute of Medical Robotics of Shanghai Jiao Tong UniversityForeign Cooperation Project of Fujian Science and Technology PlanQuanzhou High-Level Talent Innovation and Entrepreneurship Project

621330096197321151911540479M-0221215507142002022I00412021C003R

2024

10.1007/s12204-022-2497-3

上海交通大学学报(英文版)
上海交通大学

上海交通大学学报(英文版)

影响因子：0.151
ISSN：1007-1172
年,卷(期)：2024.29(1)
  • 23