基于多体理论的虚拟血管缝合分析  

Analysis of Virtual Vessel Suture Based on Multibody Theory

作　　者：岳龙旺[1] 王树新[1] 曾妍文[1] 许天春[1] 

机构地区：[1]天津大学机械学院

出　　处：《天津大学学报》2006年第1期89-95,共7页Journal of Tianjin University(Science and Technology)

基　　金：国家自然科学基金资助项目(50405018)教育部博士点基金资助项目(20030056030)天津市科技发展重点项目(043184211).

摘　　要：针对传统主从式医疗机器人在客观条件限制的情况下很难实现主从手之间的实时力反馈的问题,提出了通过虚拟现实技术实现虚拟力反馈以替代真实力反馈的方法．以“妙手”系统为研究对象,在建立显微外科手术血管缝合过程中缝合线力学模型的基础上,根据多体系统动力学理论,对由人、互感装置和虚拟环境组成的广义多体系统进行了动力学分析,由凯恩方程建立了该系统的动力学方程．通过主手的仿真数据与从手缝合过程检测数据对比分析可知,主手和从手有相同的运动特性．证明借助虚拟环境的力反馈作用,操作者通过主手可以真实地感受到从手的运动特性．It is difficult for the traditional medical robotic system to realize reahime force feedback because of the technological limitation. A new method to replace the actual force feedback with the virtual force feedback by creating a virtual environment was put forward. Based on the “MicroHand” system and the mechanical model of vessel suture, the dynamic analysis of the generalized muhibody system composed of manipulator, haptic interface and virtual environment was carried out using muhibody theory, and the dynamic equation was constructed through the Kane equation. Result of contrast analysis shows that the master and slave manipulators have the same dynamic characteristic, which means that, just like the actual force feedback, the virtual force feedback can make the operator feel the mechanical characteristic of the slave manipulators.

关 键 词：“妙手”系统 广义多体系统 血管缝合 虚拟力反馈 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]