内窥镜操作机器人结构设计及运动学仿真  

Structural design and kinematics simulation on the interior peeping mirror operational robot

作　　者：付宜利[1] 潘博[1] 李康[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150080

出　　处：《机械设计》2007年第1期62-65,共4页Journal of Machine Design

摘　　要：机器人应用于腹腔、胸腔等外科手术中,可以提高手术质量,降低医生劳动强度,减少病人痛苦。设计了一种辅助微创外科手术机器人,在机械结构上采用模块化设计方法降低机器人结构的复杂度和缩短设计周期;采用了被动式手腕关节结构使机器人更加符合实际需求。运用几何与解析法相结合的方式求得了机器人运动学逆解,通过灵活工作空间分析表明,该机器人具有足够大的灵活空间以满足实际工作需求。最后通过ADAMS运动学仿真,证实该机器人可以很好地完成所规定的任务。Robot being applied to the surgery operations of abdominal cavity, thoracic cavity etc. may enhance the quality of operation, reduce the labour intensity of doctors and lesson the pain of patients. A kind of robot that assists minute wounds surgery operations was designed. The modularized designing method was adopted for the mechanical structure to lower the complexity of robot structure and shorten the designing period. The passive typed wrist joint structure was adopted to let the robot be conforming to the actual needs. Utilizing the way of the combination of geometrical and analytical methods to find the kinematics reverse solution of robot. By way of analysis of flexible working space it is indicated that this robot has flexible space large enough to satisfy the requirements of actual work. Finally it is verified by way of ADAMS kinematics simulation that this robot could fulfill quite nicely the being stipulated task.

关 键 词：微创外科手术 内窥镜操作机器人 灵活工作空间 运动学仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]