Serialized Research Of Surgical Instruments For Minimally Invasive Surgery

Minimally invasive surgery has been widely used in various fields of surgery with the advantages of small incision,small postoperative scar,quick recovery time,etc.In traditional minimally invasive surgery,the surgeon inserts the surgical instrument into the patient for surgical operation,and the assistant holds the endoscope to provide vision to the surgeon,which is prone to fatigue for doctors and assistants.With the development of robotics,robot-assisted minimally invasive surgery has overcome various drawbacks of traditional minimally invasive surgery.However,robot-assisted minimally invasive surgery also has shortcomings such as lack of force feedback,long preoperative preparation time,and high price,which cannot be quickly put into clinical application.Whether using hand-held surgical instruments or robot-assisted minimally invasive surgery,in order to reduce the difficulty of surgical execution and improve operational comfort,it is vital to develop surgical instruments with good performance to improve the safety of surgery.In this paper,the characteristics of robotic minimally invasive surgery technology and traditional minimally invasive surgery technology are combined to carry out serial research on the surgical instruments required by surgeons.The specific research contents are as follows:1.Study on manually controlled minimally invasive surgical instruments: a threedegree-of-freedom hand-controlled minimally invasive surgical instrument based on steel wire transmission was designed with human-like wrist joint structure.The instrument has self-rotation,opening and closing and yaw motion.The end effector is serialized with quick change and no coupling motion.The thumb control mode and the one.to.one mapping of the joint movement enable the surgical instrument to be operated with one hand and intuitive operation.At the same time,the rotation of the operating lever and the yaw motion of the wrist joint are of self-locking.In the end,the static analysis and ANSYS finite element simulation of the key components of the surgical instrument were carried out.2.Research on robotic assisted minimally invasive surgical instruments: based on the modular design concept,a surgical instrument with a flexible wrist joint is designed,which has a quick reset mechanism and a fast change mechanism.Firstly,the mechanical model of the flexible wrist joint was constructed based on the Timoshenko beam model and optimized by ANSYS.Secondly,the drive system of the surgical instrument is designed,including telecentric mechanisms,transmissions,and end effectors.3.Research on ultrasonic scalpel system: a "pure" longitudinal vibration ultrasonic scalpel is designed after the analysis and research of the ultrasonic scalpel excitation system and the arbor.Firstly,the wave equation of the longitudinal vibration of the variable section rod and the design theory of the exponential ultrasonic horn are analyzed to solve the performance parameters of the ultrasonic horn.An exponential composite horn is designed and analyzed by modal analysis and harmonic response.Finally,according to the design requirements of ultrasonic scalpel,a three-dimensional model is established,and its dynamic analysis is carried out.Based on the standing wave principle,the ultrasonic scalpel bar is optimized.4.Experimental study on abdominal minimally invasive surgery instrument: For the hand-controlled minimally experimental,the operation performance,reliability and effectiveness of surgical instruments are tested;For robotic assisted minimally invasive surgical instruments,the motion of the end effector is tested,at the same time,the telecentric exercise performance test is performed on the telecentric mechanism;Finally,an ultrasonic knife incision cutting experiment was performed on the ultrasonic scalpel system.