微创外科机器人灵活工作空间分析  

Dexterous workspace analysis of surgical robot

作　　者：刘达[1] 王田苗[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《北京航空航天大学学报》2007年第2期188-191,共4页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目(60525314);国际科技合作计划资助项目(2006DFA1229);教育部留学归国基金资助项目

摘　　要：微创手术给外科机器人提出了较高的灵活性要求,但是机器人很难具有完全灵活的工作空间.首先提出象限分割的方法,即把手术工作空间分割为8个象限,确定微创外科机器人所需灵活工作空间只需要为手术工作空间的1/8.然后,给出微创外科机器人灵活工作空间与工作空间之间的解析关系,从而确定机器人的运动学参数.在此基础上,对自行设计的微创外科机器人结构进行了运动学参数优化设计.这种方法有效降低了微创外科机器人的灵活性要求,解决了机器人结构尺寸与灵活性之间的矛盾.Although it is difficult for surgical robot to have high dexterity orienting to minimally invasive surgery have full dexterous workspace, surgical robot must Firstly, according to the practical requirement of surgery, quadrant segmentation principle was proposed. The surgical workspace was divided into 8 quadrants, so the dexterous workspace occupied only eighth workspace. And then, the analysis relation was derived between dexterous workspace and workspace of surgical robot. The workspace area of surgical robot could be obtained from the analysis relation, and then the kinematics parameters of surgical robot could be confirmed. Finally, kinematics parameters of the self-defined surgical robot were optimized. Therefore, this principle decreases the demand on dexterity of surgical robot and resolves the conflict between structure and dexterity of robot.

关 键 词：微创外科机器人 灵活性 灵活工作空间 微创手术 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]