Structural design and analysis of minimally invasive surgical instruments with composite cable-driven
LIANG Ke
YI Chengxiu
LIANG Kun
SU Tiecheng
Abstract：[Objective]To solve the problems of insufficient motion flexibility and limited operation space of existing minimally invasive surgical instruments,and to improve their clinical applicability,a 5-degree-of-freedom(5-DOF)composite cable-driven minimally invasive surgical instrument was designed.[Methods]Specifically,the 5 DOFs of the instrument were achieved for the opening/closing of the surgical forceps,pitching/yawing of the snake-like joint,rotation of the axial rotation joint,and surgical space expansion of the parallel joint.To address the vibration and reduced transmission efficiency caused by motion coupling of the cable-driven system,a high-efficiency decoupling device was designed.Precise calculations and parameter optimization were carried out based on the motion coupling principle to ensure the motion independence of each component and the overall stability of the system.Combined with the instrument structure design,kinematic analysis and workspace solution were conducted,and the rationality of the structure and the correctness of the kinematics were verified.[Results]The functional integrity and motion space coverage of the designed instrument are both able to effectively meet the clinical operation requirements of common minimally invasive surgeries.
Keywords：Minimally invasive surgical instrumentCable-drivenKinematic decouplingKinematicsWorkspace analysis
Publication Date：2025-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 88-95 )