喉部外科手术机器人系统机构设计与运动学分析  

Mechanism Design and Kinematics Analysis of a Robot Assisted Laryngeal Surgery System

作　　者：李群智[1] 王树新[1] 丁杰男[1] 郭岳山[1] 周永春[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机器人》2006年第6期553-559,共7页Robot

基　　金：国家自然科学基金资助项目(50575162);教育部博士点基金资助项目(20030056030);天津市科技发展重点资助项目(04318421);教育部新世纪优秀人才支持计划资助项目

摘　　要：研制开发了主从操作方式的喉部外科手术机器人系统,可以有效避免传统手术中医生操作的双手的干涉问题.在分析与综合支撑喉镜下喉部手术工作空间和动作要求的基础上,详细设计了从操作手的机械结构,并建立了机器人双臂的运动学方程,进行了系统运动可操作性分析.分析结果表明,直线移动关节不影响机构可操作性,系统具有较好的可操作性与可靠性,能够满足手术的要求.A master-slave mode robot-assisted laryngeal surgery system is developed, which can effectively avoid the interference of the doctor＇s operating hands in traditional surgery. Firstly, the mechanism design of the slave is presented in detail based on analyzing and synthesizing the workspace and operation requirements of the laryngeal surgery with laryngoscope. And then the kinematics equations of the two robotic arms are setup to make analysis on the kinematic manipulability. The analysis results show that manipulability of the mechanism isn＇t affected by the linear translational joint, and the whole system has better manipulability and reliability to satisfy the surgery requirements.

关 键 词：喉部手术机器人 支撑喉镜 微创外科 运动可操作性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]