为内镜手术设计可快速安装的机械臂系统，提升操作效率与医生体验。
Analytical Design and Development of a Modular and Intuitive Framework for Robotizing and Enhancing the Existing Endoscopic Procedures
- 开发模块化机械框架，集成夹持与进退机构，适配现有内镜设备。
- 通过数学建模优化参数设计，实测验证各自由度精准控制能力。
- 配套直观界面支持多自由度协同操作，适合临床医生快速上手。
尽管内镜设备已广泛用于多种癌症筛查，但其手动操控仍对临床医生带来挑战，导致工作负荷增加、疲劳和分心等问题。为此，本文提出一种直观、模块化且易于安装的机电一体化框架。该框架包含：(i) 一种新型嵌套式卡盘夹持机构，可快速集成至现有内镜设备，并控制其弯曲自由度；(ii) 一种进退控制机构，用于调节结肠镜的插入/回撤自由度；(iii) 一个互补的直观用户界面，支持在操作过程中同时控制所有自由度。为分析设计性能，还引入数学建模方法与参数设计空间，以实现夹持与进退机构的最优参数选择。仿真与实验结果充分验证了所提数学模型与机器人框架的性能表现。
原文摘要 · Abstract (English)
Despite the widespread adoption of endoscopic devices for several cancer screening procedures, manual control of these devices still remains challenging for clinicians, leading to several critical issues such as increased workload, fatigue, and distractions. To address these issues, in this paper, we introduce the design and development of an intuitive, modular, and easily installable mechatronic framework. This framework includes (i) a novel nested collet-chuck gripping mechanism that can readily be integrated and assembled with the existing endoscopic devices and control their bending degrees-of-freedom (DoFs); (ii) a feeder mechanism that can control the insertion/retraction DoF of a colonoscope, and (iii) a complementary and intuitive user interface that enables simultaneous control of all DoFs during the procedure. To analyze the design of the proposed mechanisms, we also introduce a mathematical modeling approach and a design space for optimal selection of the parameters involved in the design of gripping and feeder mechanisms. Our simulation and experimental studies thoroughly demonstrate the performance of the proposed mathematical modeling and robotic framework.
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