RESUMEN

With the development of laryngeal microsurgery, the requirements for the flexibility and convenience of surgical instruments are increasing. The research on related instruments has important value for the clinical application of laryngeal microsurgery. We have redesigned a gun-type tube-guide device of laser fiber by comparing the shortcomings of existing laser fiber introducers. The innovation of this design lies in its rotating nut device with adjustable laser angle and pre-bent tip. The corresponding in vitro laryngeal model experiment can realize multi-angle rotation of the instrument in the laryngeal cavity, which greatly increases the scope of laser surgery. During the operation, the rotating nut can be directly adjusted to avoid repeatedly removing the instrument to adjust the angle, which greatly improves the practicability and simplicity of the operation, which is worthy of further clinical research and promotion.

Asunto(s)

RESUMEN

The degree of freedom (DOF) and motion characteristics of a kind of compliant spherical joint were analyzed based on the screw theory, and a new design scheme for force-inversion of the compliant spherical joint was proposed in this paper. A novel type of six DOF compliant parallel mechanism (CPM) was designed based on this scheme to provide a large load capacity and achieve micrometer-level positioning accuracy. The compliance matrix of the new type of CPM was obtained through matrix transformation and was then decomposed into its generalized eigenvalues. Then, the DOF of the mechanism was numerically analyzed based on the symbolic formulation. The finite element analysis model of the compliant parallel mechanism was established. The static load analysis was used to verify the large load capacity of the mobile platform. By comparing the deformation obtained by the compliance matrix numerical method with the deformation obtained by the finite element method, the correctness of the compliance matrix and the number of the DOF of the CPM was verified.