Design And Research Of Bronchoscope Assisted Robot System

For three years,the new crown pneumonia has been raging,and people around the world have been plagued by the virus.As an important means of diagnosis and treatment of the disease,bronchoscopic surgery brings health to patients,but exposes medical staff to vulnerable environments,and a large number of medical staff are infected by the virus,resulting in more scarce medical resources.In this case,a bronchoscopic surgical equipment that can be isolated from the patient is particularly important.Similarly,lung cancer patients account for the number of deaths and mortality among global cancers,which also remind researchers in the medical robot industry to invest more time and effort in the development of bronchoscopes.This article focuses on the process of bronchoscopic surgery: long learning time for bronchoscopic surgery;Doctors are prone to fatigue and affect the quality of operation after prolonged operation;The number of doctors is small,the number of patients requiring surgery is large,and the surgical efficiency is low;The four problems of large surgical risk and easy to withstand the risk of radiation and infection are proposed,and a bronchoscopic assisted robot is proposed,which adopts the master-slave control mode,which allows doctors to remotely control the robot for surgery,which can effectively solve the above problems.Through the analysis of the physiological signs of the human respiratory system and the operation process of bronchoscopy,the seven major movement modes of bronchoscopy were summarized,including the backward/forward movement of the insertion part along the axis.The rotation of the dial wheel of the handle operation part drives the deflection movement of the bending part of the front end;the rotational motion of the mirror body around its own axis;the pressing action of the attraction button;Remote control buttons 1 to 4 press and reset action;and forward/backward movement of the biopsy forceps and the opening and closing movement of the biopsy forceps tip.According to the surgical operation of the doctor’s bronchoscope,imitating the actual working situation of the doctor’s left hand holding the handle operation department and the right hand holding the mirror body,the operation department clamping module,mirror body conveying module,position adjustment module and main operator of the bronchoscope assisted robot were analyzed and the structure design was carried out in detail,and the main load-bearing parts were statically simulated.At the same time,the master-slave control system of the robot is studied,the overall control scheme of the system based on PC+ motion control card is built,the selection of motor,drive,motion control card,encoder and other related hardware is completed,the software structure is modularly analyzed,and three control strategies need to be used in the surgical process: incremental control,hand-eye coordination and proportional control.Finally,using the established experimental platform of robot system and NDI Aurora electromagnetic tracking system and other experimental instruments,the functional verification experiment,repeatability accuracy experiment and practical test experiment to verify the bendronchoscope-assisted robot bending,conveying,rotation and other functions were designed.The analysis of the corresponding experimental data shows that the bronchoscopic assisted robot system can better meet the design requirements and replace the doctor for remote surgical operation,which makes up for the shortcomings of traditional bronchoscopic technology,and has strong practical significance,which provides a research basis for clinical experiments and later optimization design of robots.