Design And Research Of Slave Manipulator With Muti-dofs In Minimally Invasive Surgery

Minimally Invasive Surgery (MIS) technology reduces trauma to alleviate the suffering of the patient, reducing scars which are not pretty, and shorten the length of stay in the hospital, saving cost. At present, minimally invasive surgery has become one of the most important direction for the development of medicine. The surgical robot promotes the revolution of the traditional medicine, and received great attention from the governments and academic cycles in the western countries.In this paper, the principle and general composition of the surgical robot system have been studied, and its key technologies have been discussed first. In accordance with the characteristics of the MIS's application, a slave manipulator with 7 DOFs in MIS has been designed. It also systematically discusses the overall design scheme of the manipulator, the function of all its modules, the selection of the driving elements and sensors, and the design and manufacture of the mechanical structure. The verification of the manipulator is done by a test. The suggestions for the improvement of the manipulator also are done after the design, manufacture and test.In order to study the formation mechanism of the diffuse axonal injury(DAI), an experimental device is designed for the cause of the DAI symptom, and the key technologies are discussed. The verification of the feasibility and stability of the device has been done by rat experiment. Moreover, so as to solve the problems in the replacing surgery of the distal femoral fracture, the 3D models of femora and the instruments using in LISS and retrograde interlocking intramedullary nails are created and the virtual surgery has been done.