摘要
目的设计一种新型的用于内镜缝合的电磁弹射器,以实现缝合钉的连续发射。方法依据电磁弹射的基本原理,设计缝合钉结构和电磁弹射装置,并制作样机;构建电磁弹射装置的有限元模型,研究电枢-线圈中心距和不同驱动电压对缝合钉出射速度的影响;搭建电磁弹射速度实验平台,采用高速摄影机对出射速度进行检测;搭建缝合钉嵌入实验平台,测量不同电压下发射速度对嵌入胃壁组织的影响;搭建缝合钉拔出力实验平台,对不同驱动电压下缝合钉嵌入组织的效果进行拔出力评估。结果设计了缝合钉结构和电磁弹射装置,并制作了样机。出射速度随着电枢-线圈中心距的增大,先增加后降低,且在中心距为18 mm时,出射速度最大,为15.81 m/s。中心距为18 mm时,电压与出射速度呈线性关系,缝合钉实验值与仿真值基本吻合。驱动电压为150~180 V时,缝合钉均可成功嵌入组织中,且180 V电压组的嵌入程度更深。120、150、180和210 V电压下缝合钉的拔出力分别为(0.49±0.19)、(1.14±0.19)、(1.23±0.15)、(1.85±0.31)N。结论设计了一种新型的电磁弹射式内镜缝合器,能够实现缝合钉连续发射,为智能化微创外科手术器械提供了一种新的远距离驱动方式。
Objective To design a novel electromagnetic ejection device for endoscopic suturing to achieve continuous deployment of suture nails.Methods An electromagnetic ejection device and its accompanying suture nail structure were designed and a prototype was fabricated based on electromagnetic ejection principles.A finite element model of the electromagnetic ejection device was constructed to study the effects of armature-coil center distance and different driving voltages on suture nail ejection speed.An experimental platform for testing electromagnetic ejection velocity was constructed,and a high-speed camera was used to detect the ejection velocity.A platform for the suture embedding experiment was built to measure the effects of different voltages on the inserting speed of suture into the gastric wall tissue.A platform for a suture extraction force experiment was built to evaluate the extraction force of sutures embedded in tissues under different driving voltages.Results A suture nail structure and electromagnetic ejection device were designed,and a prototype was fabricated.The ejection velocity increased and then decreased with the increase of the armature-coil center distance,and the maximum ejection velocity was 15.81 m/s at the center distance of 18 mm.At this distance,the voltage was linearly related to the ejection velocity,and the experimental values of the staple basically coincided with the simulated values.When the driving voltage was in the range of 150 to 180 V,the suture nails could successfully insert in the tissues,and the 180 V voltage group had a greater insertion depth.The extraction force of the suture nails at 120,150,180,and 210 V voltages were(0.49±0.19),(1.14±0.19),(1.23±0.15),and(1.85±0.31)N,respectively.Conclusions A novel electromagnetic ejection device for endoscopic suturing is proposed that is capable of continuous firing of suture nails.This device provides a new long-distance driving method for intelligent,minimally invasive surgical instruments.
作者
殷东明
李雨嘉
胡钟欣
耿钊宁
顾倩芸
宋成利
Yin Dongming;Li Yujia;Hu Zhongxin;Geng Zhaoning;Gu Qianyun;Song Chengli(Center of Ministry of Education Minimally Invasive Medical Device Engineering Research,School of Health Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《国际生物医学工程杂志》
CAS
2024年第1期10-16,共7页
International Journal of Biomedical Engineering
基金
国家自然科学基金(51735003)。
关键词
内镜缝合器
电磁弹射
微创手术
建模与仿真
离体实验
Endoscopic suturing device
Electromagnetic ejection
Minimally invasive surgery
Modeling and simulation
Ex-vivo experiment
