喉部手术机器人手指系统设计  

Design on microgripper system of laryngeal surgical robot

作　　者：梁修滢[1] 李群智[1] 丁杰男[1] 王树新[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械设计与制造》2007年第2期30-32,共3页Machinery Design & Manufacture

摘　　要：喉部手术机器人手指系统是针对喉部手术自身特点及要求而开发的一套手指系统。该系统由驱动机构和末端工具两部分组成,拥有旋转和开合两个自由度,并能快速更换末端工具,使机器人具有足够的自由度与灵活性,满足手术中位姿和动作要求。动物试验证明该手指系统满足喉部手术的各种要求。Based on the characteristics and requirements of laryngeal surgery, a microgripper system for laryngeal surgical robot was developed. The microgripper system having two DOF （degrees of freedom） consists of a drive device and a set of instruments. Because of the DOF and instruments＇ quick-changing, the surgical robot has enough dexterity to perform the poses and motions during laryngeal surgery. The microgripper system can satisfy all requirements of laryngeal surgery in animal experiments.

关 键 词：喉部手术 手术机器人 手指系统 动物试验 

分 类 号：S858.292[农业科学—临床兽医学]