Research On The Design And Perception Methods Of Dexterous Mechanism Of Digestive Endoscopy Robot

Digestive tract diseases have the characteristics of high incidence.Endoscopic submucosal dissection(ESD)surgery is an important means of screening for early cancer of the digestive tract,but it requires the cooperation of multiple people and multiple instruments,has great difficulty in operation,long learning curve,facing the risk of surgical radiation.In the process of ESD surgery,the traditional surgical methods have poor visual field,which is easy to cause bleeding,perforation and other surgical complications.Research on digestive endoscopyassisted interventional robots and dexterous surgical instruments is expected to solve the above problems.However,the master-slave operation mode of the robots make the doctors lose the tactile feedback of manual operation and lack the perception of human-machine tissue interaction force during surgery.During the process of colonoscopy intervention,the endoscope is prone to produce bending and loop loops during the intervention of the lower digestive tract,which leads to the difficulty of intervention and may also cause complications for patients.Therefore,this paper studies the intervention and manipulation devices,dexterous surgical instruments,endoscopic force perception and shape perception methods,and robotic-assisted endoscopic ESD surgery methods of digestive endoscopic robots.In this paper,the operation and intervention process of the endoscope are analyzed,determined the operational freedom requirements and distribution of the digestive endoscope robot,and proposed the design criteria of the digestive endoscope robot according to the clinical operation requirements.The corresponding control mechanism was designed according to the clinical operation freedom requirements of digestive endoscopy,and the statics simulation analysis of key components was carried out with Ansys software.Aiming at the problem of lack of good visual field in ESD surgery,the operating instruments were designed and analyzed in kinematic modeling.The interaction forces between the endoscope and human tissues during the intervention and operation were analyzed,and a mechanical model was established.According to the operation mode of the endoscope,a mathematical model of the endoscope was established to analyze the relationship between the proximal operating force and the distal operating force,and the perception mode of the endoscopic operating force and the interventional force was proposed.Aiming at the requirement of shape perception and reconstruction in the process of endoscope intervention,a real-time sensing and reconstruction method of endoscope shape based on single electromagnetic sensor was proposed.After the study of the structure design and perception method of the digestive endoscope robot and ESD surgical instruments,the control method and operation strategy of robot-assisted ESD surgery based on visual feedback were studied.Model and animal experiments were conducted on the digestive endoscope robot and ESD surgical instruments to obtain the force of endoscopic intervention by the robot.Experiments were carried out to measure the manipulative force of the wave wheel of the digestive endoscope,and the real resistance contact force of robot-assisted endoscopic intervention was obtained.The NDI electromagnetic sensor was used to perceive the shape of the endoscope in real time.The feasibility of shape sensing and reconstruction based on a single electromagnetic sensor is verified,and finally the feasibility of robot-assisted ESD surgery is verified.In summary,this paper mainly completed the design of the operating mechanism and delivery mechanism of the digestive endoscopic robot,the structural design of the ESD-assisted surgical instrument,and proposed the human-machine interaction force perception method of the digestive endoscopic surgical robot and the endoscopic intervention shape perception method.According to the multi-dimensional force perception information obtained,the control method and operation strategy of robot-assisted ESD surgery based on visual feedback are proposed,and verified the reliability of the method through experiments.