Abstract

In Minimally Invasive Surgery (MIS) surgeons operate through small incisions in the body of the patient and due to the lack of the degrees of freedom their capability to manipulate the organs is limited. Thus, surgeons are forced to adopt awkward postures and this may lead to musculoskeletal injuries. This paper presents a new articulated mechanism designed for application in MIS providing an additional degree of freedom in the instrument. The new degree of freedom makes possible the rotation of the end-effector from 0° to 90° and enhances the dexterity of the tool. In this way, the capability to reach the organs is improved and the surgeon reduces the forced motion of hand, wrist and arm. The paper also presents the design process including the synthesis procedure with 2-dof linkage, which is an original contribution of this work. A prototype of the tool is shown at the end of the paper.

摘要

在微创手术 (MIS) 中，外科医生通过患者身体上的小切口进行手术，由于缺乏自由度，他们操纵器官的能力受到限制。因此，外科医生被迫采取尴尬的姿势，这可能导致肌肉骨骼损伤。本文介绍了一种新的铰接机构，专为 MIS 应用而设计，为仪器提供了额外的自由度。新的自由度使末端执行器从 0° 旋转到 90° 成为可能，并提高了工具的灵活性。通过这种方式，提高了到达器官的能力，并且外科医生减少了手、手腕和手臂的强迫运动。本文还介绍了设计过程，包括具有 2 自由度连接的合成过程，这是这项工作的原创性贡献。