A design of surgical actuator instruments of new continuum institutions and finite element analysis

摘要

Aiming at the limits of continuum institutions surgery. This paper presents two modules design of continuum institutions surgical instruments which include the design of “backbone” and execution ends. We establish a kind of new snake-continuum institutions with 36 degrees of freedom which has four wire line driver. Its characteristics are better able to achieve “flexible” movement. We design a kind of the end actuator which has 4-DOF. Determine the coordinate position of its motion space. Establish a ball connection of flexible body and the kinematic model of the end actuator. Conducted a motion simulation and finite element analysis with ANSYS to the continuum institutions.Analysis shows: the maximum stress point is far less than the tensile strength and yield limit of parts. Used in minimally invasive surgery for the institution to provide a theoretical basis for the throat.