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具有折展与变刚度特征的NOTES手术器械臂 被引量:4

Deployable Manipulator with Tunable Stiffness for Natural Orifice Transluminal Endoscopic Surgery
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摘要 自然腔道手术(Natural orifice transluminal endoscopic surgery,NOTES)具有恢复快、创伤小、疼痛轻等优点,在临床应用潜力巨大。为适应人体复杂腔道环境,NOTES中常采用长器械臂为手术工具提供通路及支撑。现有的器械臂往往尺寸较大且刚度低,不能满足NOTES的要求。提出一种可折展、变刚度的器械臂,采用编织结构作为骨架实现径向折展,同时借助包覆在编织结构交叉点处的热熔胶实现刚度调节。建立了器械臂的数学模型,得到了柔态和刚态下的刚度解析表达式。试验结果表明,通过加热及冷却热熔胶,器械臂可以实现刚柔两态转化,其刚度比接近20,并且转换时间小于30 s,同时可以实现约2倍的径向展开比。 Natural orifice transluminal endoscopic surgery(NOTES) has great potential in clinical applications due to its shorter and better recoveries, less trauma and postoperative pain compared with open surgery. In NOTES, a long manipulator is always placed through a tortuous human orifice to create a channel for surgical instruments and provide support when they are operated. Currently most manipulators have a large profile and low stiffness, and therefore are not able to meet the requirements of NOTES. A new deployable manipulator with tunable stiffness is proposed. The manipulator takes a braided structure to achieve radial deployment/folding, whereas hot melt adhesive is placed at the intersection points of the structure to adjust its stiffness. A mathematical model is built to calculate the stiffness in the rigid and flexible states, respectively. Experimental results demonstrate that by heating and cooling the adhesive, a flexible and a rigid states are achieved, and the ratio of bending stiffness in the rigid state to that in the flexible state reaches around 20. The stiffness switch is complete in less than 30 s. In addition, a deployable over folding ratio of around 2 is also achieved.
出处 《机械工程学报》 EI CAS CSCD 北大核心 2018年第17期28-35,共8页 Journal of Mechanical Engineering
基金 国家自然科学基金资助项目(51290293,51575377)
关键词 自然腔道手术 编织结构 可变刚度 展开比 器械臂 natural orifice transluminal endoscopic surgery braided structure tunable stiffness deployment/folding ratio manipulator
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