In neurosurgery, surgeons use single-function surgical tools such as aspirator and electric-coagulation cutters to deal with blood vessel bleeding. Compared with multifunctional surgical tools, the surgical efficiency of using single-function tools is lower. In this paper, a multiple functional integrated medical robotic end-effector which integrates CCD imaging, electric-coagulation and suction is designed. The end-effector can be installed at the end of the serial robotic arm. The CAD model of the end-effector was constructed, and the motion analysis is carried out. The end-effector is proved to be effective by three experiments. The operator can use the design to suction blood, spotting of bleeding spots, and electric-coagulation lesion. In operations, there is no need to change the surgical tools, improve the efficiency of the operation.
基金:
Beiing Natural Science Foundation [L232053]; National Key Research and Development Program of China [2023YFB4705900]; National Natural Science Foundation of China [62273055, 91748103, 61573208]
语种:
外文
WOS:
第一作者:
第一作者机构:[1]Beijing Univ Posts & Telecommun, Sch Intelligent Engn & Automat, Med Robot Lab, Beijing 100876, Peoples R China
通讯作者:
推荐引用方式(GB/T 7714):
Zhang Yinjia,Li Weihan,Wang Haotian,et al.Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery[J].2024 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION, WRC SARA.2024,94-99.doi:10.1109/WRCSARA64167.2024.10685709.
APA:
Zhang, Yinjia,Li, Weihan,Wang, Haotian,Ma, Xudong,Yang, Qian...&Su, Bai-Quan.(2024).Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery.2024 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION, WRC SARA,,
MLA:
Zhang, Yinjia,et al."Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery".2024 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION, WRC SARA .(2024):94-99