CT导航手术2T-3R并联机器人型综合研究  

Research on type synthesis of 2T-3R parallel robots for CT-guided surgery

作　　者：刘达[1] 唐粲[1] 王田苗[1] 贠超[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：《高技术通讯》2008年第6期609-614,共6页Chinese High Technology Letters

基　　金：科技部国际合作项目(2006DFA12290);国家自然科学基金(60705033);教育部留学归国基金资助

摘　　要：提出了 CT 导航手术并联机构选型的具体原则。采用基于位移子群的位移流形运动综合法对微创外科手术少自由度并联机器人进行了型综合。详细总结了位移流形基本理论和基于位移流形的型综合方法。基于高灵活性指标,构造了2T-3R 少自由度并联机器人的11种基本流形及其24种子流形,推导得到了102种灵活性较高的2T-3R 并联机构,确定了研究中所采用的具体结构,并分析了其性能特点。对其灵活性的初步分析表明,该并联机器人可以用于 CT 导航微创外科手术。According to the operation workspace limitation and high dexterity requirement of robots for CT-guided surgery, the type selection principle for parallel robots was put forward. With the displacement subgroup-based method for synthesis of displacement manifold motion, the type synthesis of lower-mobility parallel robots for CT-guided minimally invasive surgery was implemented. And the fundamental theory of displacement manifold and displacement manifold based type synthesis approaches were summarized. In terms of the high dexterity of robot, 11 basic displacement manifolds and their 24 sub-manifolds for lower-mobility 2T-3R parallel robots were constructed. 102 types of 2T-3R parallel robots with high- er dexterity were deduced and presented. Then the specific structure of the 2T-3R parallel robot designated in this study, namely 2-CSPH parallel robot, were determined, and its characteristics were analyzed. The elementary analysis of the robot＇s dexterity showed that it could be applied to CT-guided minimally invasive surgery.

关 键 词：型综合 位移流形 位移子群 并联机器人 CT导航 灵活性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]