微创外科多自由度柔性超声手术刀研究进展
Research Progress on the Flexible Ultrasonic Scalpel in Minimally Invasive Surgery
邬苗 1冯庆敏 2刘胜林 2陆雪松3
作者信息
- 1. 华中科技大学同济医学院附属协和医院 生物医学工程研究所,湖北 武汉 430022;中南民族大学 生物医学工程学院,湖北 武汉 430074
- 2. 华中科技大学同济医学院附属协和医院 生物医学工程研究所,湖北 武汉 430022
- 3. 中南民族大学 生物医学工程学院,湖北 武汉 430074
- 折叠
摘要
超声手术刀作为一种广泛应用的高效精准的能量器械,具有同时切割止血、较小热损伤、几乎无烟雾、自净能力强等优势,但是由于现有超声手术刀结构的约束,其运动自由度少,限制了其应用在机器人操作中的灵活性.经过科研人员在结构方面的不断优化和改进,在原有刚性超声手术刀的基础上,加入柔性结构,衍生出更加灵活的多自由度柔性超声手术刀.本文综述了刚性超声手术刀的发展以及柔性超声手术刀现有的设计方案,对于刚性超声刀的研究主要集中在结构的轻便以及工作性能的提高,对于柔性超声刀的设计分为将微型化的超声换能器放置在手柄端和放置在执行末端两类,分别分析这2种设计方案的具体结构,并讨论其优势和局限性.最后,对微创外科多自由度柔性超声刀未来的发展趋势提出展望.
Abstract
As a widely used efficient and accurate energy instrument,the ultrasonic scalpel has the advantages of simultaneous cutting hemostasis,small thermal damage,nearly no smoke,and strong self-cleaning ability.However,due to the constraints of the existing ultrasonic scalpel structure,the lack of freedom of motion limits the flexibility of its application in robot operation.After the continuous optimization and improvement of the structure of scientific researchers,by adding flexible structure on the basis of the original rigid ultrasonic scalpel,the flexible ultrasonic scalpel with multiple degrees of freedom is developed.This paper reviews the development of rigid ultrasonic scalpel and the existing design scheme of flexible ultrasonic scalpel.The study of rigid ultrasonic knife mainly focus on the lightness of structure and the improvement of working performance.In terms of the design of flexible ultrasonic knife,it is divided into two categories:the miniaturized ultrasonic transducer is placed at the handle end and placed at the end of the execution.The specific structure of these two design schemes is analyzed respectively,and their advantages and limitations are discussed.Finally,the future development trend of multi-degree flexible ultrasound scalpel in minimally invasive surgery is prospected.
关键词
超声手术刀/微创外科/柔性超声刀/多自由度/可操纵执行末端Key words
ultrasonic scalpel/minimally invasive surgery/flexible ultrasonic scalpel/multiple degrees of freedom/manipulable execution ends引用本文复制引用
基金项目
湖北省重点研发计划(2022BCA025)
中南民族大学校级教学研究项目(JYX22022)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据