基于神经内窥镜组织牵拉机械手设计与分析-《中国医学物理学杂志》

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Title:: Design and analysis of a tissue retraction manipulator for neuroendoscopy

文章编号:: 1005-202X（2026）09-1259-08

作者:: 刘雨; 石更强; 上海理工大学健康科学与工程学院，上海 200082

Author(s):: LIU Yu; SHI Gengqiang; School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200082, China

关键词:: 神经内窥镜机械手; 绳驱; 运动学分析; 仿真分析

Keywords:: Keywords: neuroendoscopic manipulator cable-driven kinematic analysis simulation analysis

分类号:: R318

DOI:: DOI:10.3969/j.issn.1005-202X.2026.09.014

文献标志码:: A

摘要:: 针对神经内窥镜手术中组织牵拉操作的空间受限与精确控制需求，提出一种紧凑型绳驱专用机械手的创新设计。该机构采用欠驱动原理与三自由度串联拓扑构型，实现在单一平面内的精准运动控制，其紧凑尺寸可完全集成于标准神经内窥镜工作通道内，显著提升手术器械的空间利用率与操作灵活性。在理论建模方面，基于Denavit-Hartenberg参数法建立系统的运动学模型，系统推导从关节空间到任务空间的正运动学映射关系以及从任务空间到关节空间的逆运动学解析解。同时，基于拉格朗日方法构建系统的静力学模型，为驱动绳索张力分配与力矩平衡分析提供理论基础。在仿真验证环节，利用MATLAB平台开展系统的运动性能分析。通过蒙特卡罗方法对工作空间进行数值仿真，结果表明机械手具有合理的月牙形可达区域（X轴范围：10.0~50.9 mm，Y轴范围：5.3~44.9 mm），完全覆盖临床手术所需的组织牵拉范围。轨迹规划仿真进一步验证各关节运动曲线的连续性，位移、速度与加速度曲线均呈现平滑过渡特性，无突变或奇异现象。此外，基于ADAMS多体动力学软件进行的动态仿真分析验证关节力矩在典型运动工况下的变化特性。仿真结果显示，各关节驱动力矩曲线平稳，峰值力矩在设计范围内，表明机构具有良好的动态响应性能与力传递效率。本研究通过理论建模、数值仿真与动态分析相结合的方法，系统验证绳驱机械手在神经内窥镜手术中的可行性与优越性，为微创手术专用器械的优化设计与智能控制提供重要的理论依据与实践参考，对推动神经外科手术机器人的临床应用具有积极意义。

Abstract:: Abstract: A compact, cable-driven manipulator specifically engineered for tissue retraction in neuroendoscopic surgery is developed to overcome the critical challenges of spatial constraints and precision control. The proposed manipulator adopts an underactuated mechanism with a three-degree-of-freedom serial topology to realize precision motion control within a single plane, and its compact size enables full integration into standard endoscopic working channels, thereby significantly improving spatial utilization and operational flexibility. In terms of theoretical modeling, a systematic kinematic model is constructed using the Denavit-Hartenberg parameter method to obtain analytical solutions for forward kinematics from joint space to task space and inverse kinematics from task space to joint space. Furthermore, a static model is formulated based on the Lagrange method to provide a theoretical basis for analyzing cable tension distribution and joint torque equilibrium. For simulation verification, systematic kinematic performance analyses are carried out on the MATLAB platform. Numerical simulations of the workspace are implemented using the Monte Carlo method, and results demonstrate a feasible crescent-shaped operational area (X-axis: from 10.0 to 50.9 mm Y-axis: from 5.3 to 44.9 mm), which adequately covers the required range for surgical tissue retraction. Trajectory planning simulations further verify the continuous motion profiles of all joints. The displacement, velocity, and acceleration curves all show smooth transitions, with no abrupt changes or kinematic singularities. In addition, dynamic simulations are conducted in the ADAMS to analyze and verify the variations of joint torque under typical operating conditions, and the simulation results exhibit smooth joint torque variations, with peak torque within the designated safety thresholds, which confirms its robust dynamic response and efficient force transmission. This study substantiates the feasibility and superiority of the proposed cable-driven manipulator for neuroendoscopic surgery through theoretical modeling, numerical simulation, and dynamic analysis. These findings provide a critical theoretical foundation and a practical reference for the development and optimization of specialized instruments for minimally invasive surgery, which is of positive significance for promoting the clinical application of neurosurgical robots.

《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]

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