SYNTHESIS OF ROBOTIC MECHANISM FOR MICROSURGICAL CORNEAL GRAFTING  

作　　者：Hu Yida Zhao Zhiwen Li Dazhai Zong Guanghua 

机构地区：[1]Robotic institute, Beihang University, Beijing 100083, China [2]Singapore-MIT Alliance School of Mechanical and Aerospace Engineering,Nanyang Technological University, 639798, Singapore

出　　处：《Chinese Journal of Mechanical Engineering》2005年第3期356-360,共5页中国机械工程学报（英文版）

基　　金：This project is supported by National Hi-tech Research and DevelopmentProgram of China (863 Program, No.2002AA420110).

摘　　要：In order to enhance the effect of comeal grafting, an assisting microsurgical robot has been developed. As one of principal issues for the robotic system design, type and size synthesis of the robotic mechanism is discussed. For this purpose, timeline subtask is analyzed with surgical component motion in manual comeal grafting microsurgery, as the reference of robotic mechanism synthesis. On the basis of study on the kinematic correlation between the arm structures and the wrist structures, configuration of joint is determined for the surgical task and motion in type synthesis of the mechanism. The objective for size synthesis of robotic mechanism is optimization of the mechanism dexterity as a manipulation capability. The condition number based on Jacob matrix is chosen as dexterity measure of the mechanism. The prototype is developed.In order to enhance the effect of comeal grafting, an assisting microsurgical robot has been developed. As one of principal issues for the robotic system design, type and size synthesis of the robotic mechanism is discussed. For this purpose, timeline subtask is analyzed with surgical component motion in manual comeal grafting microsurgery, as the reference of robotic mechanism synthesis. On the basis of study on the kinematic correlation between the arm structures and the wrist structures, configuration of joint is determined for the surgical task and motion in type synthesis of the mechanism. The objective for size synthesis of robotic mechanism is optimization of the mechanism dexterity as a manipulation capability. The condition number based on Jacob matrix is chosen as dexterity measure of the mechanism. The prototype is developed.

关 键 词：Mechanism synthesis Robot Microsurgery Comeal grafting 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]