【作者】 孙健；

【导师】 冯美；

【作者基本信息】 吉林大学 ， 机械工程， 2025， 硕士

【摘要】 腔镜手术作为微创手术中的一项重要技术主要用于腹腔和盆腔手术,打破了传统开放性手术的局限性,患者的恢复速度和术后效果得到了显著提高。但是,腔镜手术器械受尺寸限制通常采用“钢丝绳-滑轮”组合的布局方式,钢丝绳与滑轮间的摩擦和其自身形变会影响手术器械的位置精度,如何提升手术器械的位置精度成为了腔镜手术机器人的研究难点。因此,本文针对腔镜手术机器人的手术器械设计、丝传动系统力-位传输模型、生物软组织力学本构方程等问题展开研究,对提升腔镜手术机器人的位置精度具有重要的理论意义和应用价值。根据腔镜手术器械的使用需求,设计了一款空间布局紧凑、便于快速拆装的腔镜手术器械,通过分析不同类型钢丝绳的结构特性和使用工况,确定钢丝绳的型号,并使用万能实验机测量出钢丝绳稳定状态下的实际弹性模量。针对腔镜手术器械中钢丝绳与滑轮间摩擦和其自身形变产生的位置误差,基于欧拉绞盘方程,分析钢丝绳绕过滑轮前后的张力变化,提出了一种弯曲绳段和直线绳段快速处理方法,建立了丝传动系统力-位传输模型。根据手术器械中钢丝绳实际弹性模量、负载重量等参数提出一种丝传动系统位置补偿策略,通过实验验证了补偿策略的有效性,并设计正交实验分析不同参数对补偿效果的影响。以夹取操作为例,作用在手术器械上的负载重量会随着夹持深度和被夹取组织的不同而产生变化。通过实验分析了肌肉组织和脂肪组织的力学各向异性以及在不同夹取速度和夹取面积下的力学响应,建立肌肉组织和脂肪组织的超弹性力学本构方程,并提出一种以肌肉组织和脂肪组织作为构成脏器宏观最小单元的脏器力学本构方程建立方法,以此方法建立了肝脏和肾脏的力学本构方程。通过在腔镜手术机器人上进行固定负载实验验证丝传动系统位置补偿策略的有效性,并通过肌肉组织、脂肪组织、肝脏、肾脏和脾脏的夹持实验验证力学本构方程的准确性。根据所建立的脏器力学本构方程优化丝传动系统位置补偿策略,通过肝脏夹取-提拉实验验证该策略能够提升腔镜手术器械的位置精度。更多还原

【Abstract】 Laparoscopic surgery,as a key technology in minimally invasive surgery,is primarily used in abdominal and pelvic procedures.It overcomes the limitations of traditional open surgery,significantly improving patient recovery speed and postoperative outcomes.However,due to size constraints,laparoscopic surgical instruments typically employ a wire rope-pulley layout.The deformation of the wire rope and friction with the pulleys affect the positioning accuracy of the surgical instruments,making the improvement of positional precision a critical research challenge in laparoscopic surgical robots.Therefore,this study focuses on the design of surgical instruments for laparoscopic surgical robots,the force-displacement transmission model of the wire-driven system,and the constitutive equation of biological soft tissue mechanics,contributing to both theoretical understanding and practical applications for improving the positioning accuracy of laparoscopic surgical robots.According to the functional requirements of laparoscopic surgical instruments,a compactly arranged instrument with a design facilitating quick assembly and disassembly is proposed.By analyzing the structural characteristics and working conditions of different types of wire ropes,the appropriate wire rope model is determined.The actual elastic modulus of the wire rope in a stable state is measured using a universal testing machine.To address the positional errors caused by friction between the wire rope and pulleys,as well as the rope’s own deformation,the Euler capstan equation is utilized to analyze tension variations before and after the wire rope passes over the pulleys.A rapid processing method for curved and straight rope segments is proposed,leading to the establishment of a force-displacement transmission model for the wire-driven system.Based on the actual elastic modulus of the wire rope and the load weight in the surgical instrument,a position compensation strategy for the wire-driven system is formulated.Experimental validation confirms the effectiveness of the compensation strategy,and an orthogonal experimental design is conducted to analyze the influence of different parameters on the compensation effect.Taking grasping operations as an example,the load weight on the surgical instrument varies with grasping depth and the type of tissue being grasped.Experimental analysis is conducted on the mechanical anisotropy of muscle and adipose tissues,as well as their mechanical responses under different grasping speeds and areas.The hyperelastic constitutive equations for muscle and adipose tissues are established,and a method for constructing organ constitutive equations based on these tissues as the macroscopic minimal units is proposed.Using this method,a constitutive equation for liver tissue is developed.The developed tissue and organ constitutive equations are applied to optimize the position compensation strategy of the wire-driven system.Grasping experiments on muscle tissue,adipose tissue,and liver tissue are performed on the laparoscopic surgical robot,verifying the effectiveness of the compensation strategy.Additionally,through curve fitting experiments on kidney tissue mechanics,it is demonstrated that the proposed method of using muscle and adipose tissues as the macroscopic minimal units for organ constitutive equations exhibits general applicability.更多还原