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Development of a Cam-Based Minimally Invasive Surgical Instrument With Reduced Backlash
Jinhua Li1, Yue Yu1, Yuteng Bai1
1School of Mechanical Engineering, Tianjin University, Tianjin, China.
Summary
This study introduces cam-based surgical instruments to improve control precision. Cam mechanisms significantly reduce backlash, enhancing the performance of continuum surgical instruments.
Area of Science:
- Robotics
- Mechanical Engineering
- Surgical Technology
Background:
- Continuum surgical instruments with hinge joints exhibit slack and hysteresis.
- These issues negatively impact the precision of surgical instrument control.
Purpose of the Study:
- To introduce and evaluate cam-based surgical instruments.
- To address the control precision limitations of traditional hinge-based instruments.
Main Methods:
- Analyzed cable length variations in hinge joints to redesign cam contours.
- Developed an experimental platform to compare cam mechanisms with traditional circular wheels.
- Constructed and tested a prototype surgical instrument featuring the cam design.
Main Results:
- Cam mechanisms demonstrated an 82% reduction in backlash compared to circular wheels.
- The developed surgical instrument achieved a 60% reduction in backlash at a 20-degree rotation.
Conclusions:
- Cam-based mechanisms offer a promising solution for enhancing control precision in continuum surgical instruments.
- The findings indicate potential for improved performance in instruments with multiple hinge joints.
