新型微创腹腔手术机器人工作空间分析
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摘要
随着微创"无疤痕"理念逐渐地深入人心,患者在对待腹腔手术上有了更高的要求,而经脐单孔腹腔镜手术(SILS)由于能够满足体表无疤痕的需求,受到了更多的青睐,因此服务于SILS的手术机器人也成为了研究的热点。基于对一种新型微创腹腔手术机器人进行初步的运动工作空间研究,为该手术机器人逐步地走向成熟提供技术支撑与理论基础;通过对该机器人的工作空间主要影响机构环形平台与Stewart平台的分析与研究,模拟生成该手术机器人的工作空间范围,并与常见的微创腹腔手术所需工作空间的对比分析,验证了该手术机器人在常见腹腔微创手术中的适用性。
With the concept of minimally invasive "scarless" gradually gaining popularity, patients have higher requirements in the treatment of celiac surgery, and the transumbilical single-incision laparoscopic surgery(SILS) has been more satisfied because it can meet the needs of no scar on the body surface. Therefore, the surgical robots that serve SILS have also become a research hotspot. This paper is based on a preliminary research of a novel minimally invasive abdominal surgery robots, providing technical support and theoretical basis for the gradual progress of the surgical robot; By analyzing and researching the workspace of the robot, which mainly affects the mechanism circular platform and Stewart platform, the workspace of the surgical robot is simulated and generated; According to the comparison analysis of the workspace required for the common minimally invasive abdominal surgery, and the applicability of the surgical robot in the common abdominal minimally invasive surgery were verified.
With the concept of minimally invasive "scarless" gradually gaining popularity, patients have higher requirements in the treatment of celiac surgery, and the transumbilical single-incision laparoscopic surgery(SILS) has been more satisfied because it can meet the needs of no scar on the body surface. Therefore, the surgical robots that serve SILS have also become a research hotspot. This paper is based on a preliminary research of a novel minimally invasive abdominal surgery robots, providing technical support and theoretical basis for the gradual progress of the surgical robot; By analyzing and researching the workspace of the robot, which mainly affects the mechanism circular platform and Stewart platform, the workspace of the surgical robot is simulated and generated; According to the comparison analysis of the workspace required for the common minimally invasive abdominal surgery, and the applicability of the surgical robot in the common abdominal minimally invasive surgery were verified.
引文
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[3]邓泽,石运永,谢叻.腹腔微创手术机器人主从运动及力反馈控制[J].机械设计与研究,2017,33(5):41-45.
[4]GILL I S,ADVINCULA A P,ARON M,et al.Consensus statement of the consortium for laparoendoscopic single-site surgery[J].Surgical Endoscopy,2010,24(4):762-768.
[5]SPINOGLIO G,LENTI L M,MAGLIONE V,et al.Single-site robotic cholecystectomy(SSRC)versus single-incision laparoscopic cholecystectomy(SILC):comparison of learning curves.First European experience[J].Surgical Endoscopy,2012,26(6):1648.
[6]YAO W,CHILDS P R.Application of design rationale for a robotic system for single-incision laparoscopic surgery and natural orifice transluminal endoscopic surgery[J].Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine,2013,227(7):821-830.
[7]李保坤,曹毅,张文祥,等.基于四元数的Stewart机构姿态奇异与姿态空间研究[J].机械设计与研究,2007,23(6):31-33.
[8]张宗之,秦俊奇,陈海龙,等.基于BP神经网络的Stewart平台位姿正解算法研究[J].机械传动,2015(6):54-57.
[9]薄岩.经阴道胆囊切除术与经脐单孔腹腔镜胆囊切除术的对照研究及评价[D].济南:山东大学,2014.
[10]CHAMBERLAIN R S,SAKPAL S V.A comprehensive review of single-incision laparoscopic surgery(SILS)and natural orifice transluminal endoscopic surgery(NOTES)techniques for cholecystectomy[J].Journal of Gastrointestinal Surgery,2009,13(9):1733-1740.
[11]向川南,姚健,王宁,等.经阴道腹腔镜胆囊切除术的临床应用[J].西部医学,2015,27(8):1196-1198.
[12]ROMANELLI J R,MARK L,OMOTOSHO P A.Single port laparoscopic cholecystectomy with the Tri Port system:a case report[J].Surgical Innovation,2008,15(3):223.
[13]张永康,王玉珍,杜明国,等.腹腔镜阑尾切除术阑尾残端荷包缝合包埋与Hem-o-lok的比较[J].中国微创外科杂志,2014,14(6):512-515.
[14]钟玉兵,周苏君,张国强,等.Hem-o-lok结扎锁在腹腔镜阑尾切除术残端处理的应用[J].江苏医药,2013,39(22)2754-2755.
[2]AHMAD A,ARELLANO J J,AGARWALA A,et al.Apercutaneous technique of liver retraction in laparoscopic bariatric&upper abdominal surgery[J].Surgery for Obesity&Related Diseases,2016,12(8):1626.
[3]邓泽,石运永,谢叻.腹腔微创手术机器人主从运动及力反馈控制[J].机械设计与研究,2017,33(5):41-45.
[4]GILL I S,ADVINCULA A P,ARON M,et al.Consensus statement of the consortium for laparoendoscopic single-site surgery[J].Surgical Endoscopy,2010,24(4):762-768.
[5]SPINOGLIO G,LENTI L M,MAGLIONE V,et al.Single-site robotic cholecystectomy(SSRC)versus single-incision laparoscopic cholecystectomy(SILC):comparison of learning curves.First European experience[J].Surgical Endoscopy,2012,26(6):1648.
[6]YAO W,CHILDS P R.Application of design rationale for a robotic system for single-incision laparoscopic surgery and natural orifice transluminal endoscopic surgery[J].Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine,2013,227(7):821-830.
[7]李保坤,曹毅,张文祥,等.基于四元数的Stewart机构姿态奇异与姿态空间研究[J].机械设计与研究,2007,23(6):31-33.
[8]张宗之,秦俊奇,陈海龙,等.基于BP神经网络的Stewart平台位姿正解算法研究[J].机械传动,2015(6):54-57.
[9]薄岩.经阴道胆囊切除术与经脐单孔腹腔镜胆囊切除术的对照研究及评价[D].济南:山东大学,2014.
[10]CHAMBERLAIN R S,SAKPAL S V.A comprehensive review of single-incision laparoscopic surgery(SILS)and natural orifice transluminal endoscopic surgery(NOTES)techniques for cholecystectomy[J].Journal of Gastrointestinal Surgery,2009,13(9):1733-1740.
[11]向川南,姚健,王宁,等.经阴道腹腔镜胆囊切除术的临床应用[J].西部医学,2015,27(8):1196-1198.
[12]ROMANELLI J R,MARK L,OMOTOSHO P A.Single port laparoscopic cholecystectomy with the Tri Port system:a case report[J].Surgical Innovation,2008,15(3):223.
[13]张永康,王玉珍,杜明国,等.腹腔镜阑尾切除术阑尾残端荷包缝合包埋与Hem-o-lok的比较[J].中国微创外科杂志,2014,14(6):512-515.
[14]钟玉兵,周苏君,张国强,等.Hem-o-lok结扎锁在腹腔镜阑尾切除术残端处理的应用[J].江苏医药,2013,39(22)2754-2755.