Structural design and Kinematics Analysis of Multi-Degree-of-Freedom (MDOF) Cable-Driven Minimally Invasive Surgical Instrument

Hanyang Du

doi:10.54097/ywcbas30

Authors

Hanyang Du

DOI:

https://doi.org/10.54097/ywcbas30

Keywords:

Minimally Invasive Surgical Robot; Kinematics; Kinematic Decoupling; Surgical Instrument; Cable-Driven.

Abstract

In the minimally invasive surgical robot system, the traditional single-degree-of-freedom cable-driven surgical instruments have an undesirable phenomenon of motion coupling between the joints and the rotating joints of the grippers, which will affect the accuracy of the surgery. To address this issue, a new type of multi-degree-of-freedom cable-driven surgical instrument is proposed, whose joints adopt a planetary gear structure to achieve motion decoupling. First, the problem of joint motion coupling in single-degree-of-freedom cable-driven surgical instruments and its causes are analyzed. Then, a joint with planetary gear rotation is designed, and it is proved by the geometric method that it has extremely low joint coupling, and the deformation and wear of the steel wire rope during movement are extremely small. At the same time, the kinematic model of this surgical instrument is established, and the simulation model built in UGNX is used to correct the kinematic model of the surgical instrument. The operation results show that the structural design of the proposed surgical instrument is reliable, the motion coupling between joints is low, and its work can meet the requirements of minimally invasive surgery. The research results can serve as a reference for the structural design and kinematic analysis of cable-driven surgical instruments.

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