新型微创手术机器人具4自由度柔性操作，精度高且兼容标准穿刺器。
Control Architecture and experimental validation of a Novel Surgical Robotic Instrument
- 基于解析剪刀连杆模型设计，实现末端弯曲、旋转与夹持的精准控制。
- 夹持开合角度预测误差仅0.13°（CAD）和1.43°（光学捕捉）。
- 可集成至平行机器人系统，适用于胰腺手术等复杂模拟场景。
微创手术（MIS）可减轻患者创伤并缩短恢复时间，但传统腹腔镜器械仍受限于运动自由度不足。本文提出一种4自由度柔性腹腔镜器械的控制架构，集成了远端弯曲、独立末端头旋转、轴向旋转及夹持功能，同时保持10毫米直径以兼容标准穿刺器。驱动单元与SpaceMouse遥操作通过Raspberry Pi 5及Motoron控制器实现。推导并参数化了分析型剪刀连杆模型，预测的钳口开合角与CAD测量值（MAE 0.13°）及OptiTrack运动捕捉数据（MAE 1.43°）高度一致。该系统与ATHENA并联机器人集成，通过模拟胰腺手术流程完成验证。
原文摘要 · Abstract (English)
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF flexible laparoscopic instrument integrating distal bending, independent distal head rotation, shaft rotation, and a gripper, while maintaining a 10 mm diameter compatible with standard trocars. The actuation unit and SpaceMouse teleoperation are implemented on Raspberry Pi 5 with Motoron controllers. An analytical scissor-linkage model is derived and parameterized. The predicted jaw opening corresponds to CAD measurements (MAE 0.13{\textdegree}) and OptiTrack motion capture (MAE 1.43{\textdegree}). Integration with the ATHENA parallel robot is validated through a simulated pancreatic surgery procedure.
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