支撑喉镜下喉部手术机器人运动学模型与控制系统设计  

Kinematical Model of the Laryngeal Surgery Robot with the Laryngoscope and Design of the Control System

作　　者：郭岳山[1] 李群智[1] 丁杰男[1] 王树新[1] 

机构地区：[1]天津大学机械学院,天津300072

出　　处：《机电一体化》2007年第1期31-35,共5页Mechatronics

摘　　要：首先简要介绍了机器人的机构原理,并进行了机器人从操作手在手术过程中的运动学分析,包括从手末端工具进出喉镜的直线运动分析和工具在喉镜下进行手术的运动学分析;其次,分别建立了主操作手与从操作手的运动学模型,提出了工具在支撑喉镜下运动的主从对应运动学模型;最后设计完成了机器人控制系统,并进行了动物实验研究。First, the mechanism of this robot was briefly introduced, and the kinematical analysis was given during the operation, including the movement of the slave＇ s tip tool passing through the laryngoscope and the motion inside it. Second, the master and slave kinematical models were analyzed separately, and the master- slave model for the motion inside the laryngoscope was proposed. Finally, the control system was designed and realized, then the animal experiment was carried out.

关 键 词：支撑喉镜 喉部手术机器人 主从对应 运动学模型 控制系统 

分 类 号：TH777[机械工程—仪器科学与技术]