显微外科手术机器人——“妙手”系统的研究  

A Robotic System for Microsurgery: the "MicroHand" System

作　　者：王树新[1] 丁杰男[1] 贠今天[2] 李群智[1] 韩保平[3] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]天津工业大学机械电子学院,天津300160 [3]天津医院显微手术科,天津300211

出　　处：《机器人》2006年第2期130-135,共6页Robot

基　　金：国家863计划资助项目(2001AA422290);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);天津市科技发展计划重点资助项目(043184211)

摘　　要：描述了一套显微外科手术机器人系统———“妙手(M icroHand)”.该系统采用主从遥操作方式,主从手为同构异型模式:主手是具有三维力感觉功能的PHANToM Desktop,从手是针对显微外科手术特点而设计的高精度关节型机器人.从手末端安装有六维力传感器M in i40,将检测到手术环境的力信息反馈给主手,从而使手术医生通过PHANToM感受手术环境的三维力信息.本系统成功地对兔子颈部和腿部1毫米动脉进行了血管吻合手术操作,证明了它的有效性.A robotic system （ named ＂MicroHand＂ ） for microsurgery is devdoped. The system designed is based on a master-slave operation mode, and the master-slave operators are in iaomery. The PHANTOM Desktop which is capable of providing force feedback is used as the master device. Based on the characteristics of micro-surgery, an articulated robot with high precision is designed and used as the slave device. The surgical environment information measured by the 6D force sensors Mini40 is fed back to the master device, and thus the master system is capable of providing force feedback to the surgeon during the operation. Animal experiments have been made on a rabbit for the vas suturing of two arteries 1ram in diameter on the neck and the leg, and the results have proved the validity of the system.

关 键 词：显微外科 手术机器人 血管吻合 主从操作 异构 力感觉 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]