CT导航微创外科混联机器人拓扑结构分析  

Topological Structure Analysis for a Hybrid Robot in CT-Guided Minimally Invasive Surgery

作　　者：唐粲[1] 贠超[1] 刘达[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《机器人》2008年第2期107-111,共5页Robot

基　　金：科技部国际合作项目(2006DFA12290)

摘　　要：分析了CT导航微创外科手术环境对机器人的特殊要求,提出了一种新型串并混联机器人构型.详细讨论了机器人的串、并联拓扑结构的设计依据,比较了多种串联微创外科机械臂的结构类型,明确了串联部分的构型.针对传统并联机构灵活性较小的不足,提出并分析了并联机构的结构框架,确定了并联部分的结构.基于螺旋理论重点求解了并联机构的位移输出特征方程及其自由度,同时给出了串联部分的位移输出特征矩阵.通过灵活性仿真,验证了该机器人可用于CT受限空间的微创外科定位手术.本文对于新型医疗机器人的构型设计提供了一种理论参考.The specific requirements of a CT-guided minimally invasive surgery robot are analyzed, and a mechanism combining serial structure with parallel structure is put forward. The design preconditions of serial and parallel robot topological structures are discussed. Several structure types of serial robot arms are compared, and then the final structure is determined. For the deficiency that traditional parallel robots have very low dexterity, a structural frameof the parallel mechanism is provided and explained, and the parallel robot structure is ascertained. The characteristic function of the displacement output of parallel mechanism and its degree of freedom are calculated based on screw theory. The characteristic matrix of the displacement output of serial mechanism is also obtained. The simulation with robot dexterity verifies that this hybrid robot can be used to the locating operation in the minimally invasive surgery with limited CT space. This paper provides a theoretical reference for the structure design of new medical robots.

关 键 词：CT导航 微创外科 混联机器人 拓扑结构 机器人灵活性 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]