Design and Study of a Kind of Rigid Controllable Manipulator Tube for
Clinical Minimally Invasive Surgery
YAO Fanghui1, FU Yuzhen2, LI Wenfang1
1. Department of General Surgery, Shiyan Taihe Hospital, Taihe Hospital Affiliated to Hubei University of Medicine, Shiyan
Hubei 442000, China; 2. Department of Histology and Embryology, Hubei University of Medicine, Shiyan Hubei 442000, China
Abstract：Objective To explore the structural design and stress analysis of rigid controllable manipulator in minimally invasive surgery.
Methods The membrane was used to cover the inner and outer surfaces of the braided tube to form a tubular seal chamber, thus
forming a new folding structure manipulator with adjustable stiffness. In order to evaluate the bending stiffness of the sealed tubes of the
manipulator, pure bending experiments, Abaqus/Explicit numerical simulation and comprehensive analysis were carried out on physical
samples. Results Through finite element numerical analysis, the results showed that the measured curvature radius is obtained in the
rigid state ρ=136.17 mm approximate pure bending, the radius of curvature in the flexible state was ρ=144.36 mm. The comprehensive
analysis results showed that the experimental moment in rigid state was 135.21 Nmm, and the flexible moment was 19.91 Nmm.
Conclusion Under the rigid state, the braided tube is tightly compressed on the framework, and the deformation mode of the seal tube
is not significantly affected, and it can still work normally. The deformation configuration and torque curve obtained by numerical
calculation show the same trend and verify the design of a new type of manipulator and its sealing tube is effective and practical, the
equipment for minimally invasive surgery robot hand can be used as a reference for design and application, has certain promotion value.
姚方辉1，扶玉珍2，李文仿1. 一种临床微创手术用刚性可控机械手设计与研究[J]. 中国医疗设备, 2022, 37(10): 37-40.
YAO Fanghui1, FU Yuzhen2, LI Wenfang1. Design and Study of a Kind of Rigid Controllable Manipulator Tube for
Clinical Minimally Invasive Surgery. China Medical Devices, 2022, 37(10): 37-40.
