脑外科机器人结构分析与参数优化设计  

Research on the structure and design for the parameters optimization of the brain surgical robot

作　　者：聂忠义[1] 刘杰[1] 王田苗[2] 胡磊[2] 

机构地区：[1]辽宁工程技术大学机械工程及自动化学院,阜新123000 [2]北京航空航天大学机器人研究所,北京100083

出　　处：《高技术通讯》2006年第5期463-467,共5页Chinese High Technology Letters

基　　金：863计划（2004AA421012）资助项目.

摘　　要：为实现脑外科机器人在脑外科手术中辅助医生进行精确导航定位,进行了机器人结构灵活性及手术空间要求的研究.首先,研制了一种五自由度脑外科机器人结构,利用D-H方法计算了机器人运动学的正反解方程.其次,运用MATLAB软件对机器人的工作空间、灵活性及手术空间进行了可视化仿真,仿真的结果表明该机器人结构可以用来辅助医生选择最佳手术路径,并以上述分析为依据提出了一种机器人结构参数优化设计的方法.最后通过手术模拟试验验证了所设计的机器人灵活性满足脑外科手术要求.The research on the structure and design for the parameters optimization of the brain surgical robot was performed in order that the brain surgery robot can possess corresponding dexterity and surgery space and assist the surgeon to locate the tools precisely. First, a 5-DOF brain surgery robot structure was developed. It used the D-H method to resolve the kinematics problems. Next, the work space, dexterity and surgery space were simulated using the MATLAB software. It can help the surgeon to choose the best location and pose for surgery. Finally, a method of optimizing structure parameters was put forward based on the above analysis and the fact that the structure satisfies the surgery requirement was validated through trial.

关 键 词：手术空间 灵活性 运动学 脑外科机器人 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置] S857.141[自动化与计算机技术—控制科学与工程]