OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools

被引:15
|
作者
Colan, Jacinto [1 ]
Davila, Ana [2 ]
Zhu, Yaonan [1 ]
Aoyama, Tadayoshi [1 ]
Hasegawa, Yasuhisa [1 ]
机构
[1] Nagoya Univ, Dept Micronano Mech Sci & Engn, Furo Cho,Chikusa Ku, Nagoya 4648603, Japan
[2] Nagoya Univ, Inst Innovat Future Soc, Furo Cho,Chikusa Ku, Nagoya 4648601, Japan
基金
日本学术振兴会; 日本科学技术振兴机构;
关键词
Medical robotics; Instruments; Three-dimensional printing; Surgery; Robot kinematics; Mechanical cables; End effectors; Minimally invasive surgery; 3D printing; cable-driven tool; minimally invasive surgery; robot-assisted surgery; surgical instrument; DESIGN; INSTRUMENT; FORCE; GENERATION;
D O I
10.1109/ACCESS.2023.3236821
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Robot-assisted minimally invasive surgery (RMIS) has been shown to be effective in improving surgeon capabilities, providing magnified 3D vision, highly dexterous surgical tools, and intuitive human-robot interfaces for high-precision tool motion control. Robotic surgical tools (RST) are a critical component that defines the performance of an RMIS system. Current RSTs still represent a high cost, with few commercially available options, which limits general access and research on RMIS. We aim to take advantage of recent progress in biocompatible 3D printing and contribute to the development of RMIS technologies, presenting an open platform for low-cost, biocompatible, and customizable RSTs. The proposed design concept consists of a 3-DOF end-effector with a decoupled wrist mechanism, a tool interface module, and a tool drive unit. We validated our end-effector design using Finite Element Analysis (FEA) to confirm that stress generated by high grip forces is maintained below the material yield stress. Validation experiments showed that the proposed RST could provide up to 10N grip forces and up to 3N pulling forces. The proposed control framework exhibited a mean absolute positioning tracking error of approximately 0.1 rad. Finally, we also demonstrated the use of the proposed RST in two surgical training tasks: pick-and-place and stitching. The designs and software control framework are open-access and freely available for customization and fast development at https://github.com/jcolan/OpenRST.
引用
收藏
页码:6092 / 6105
页数:14
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