一种主被动式辅助腹腔镜手术机器人的运动学分析  

Kinematics analysis on a kind of active-passive typed auxiliary laparoscope operation robot

作　　者：张立勋[1] 董九志 李艳生[1] 张铁锋[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2008年第9期13-16,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(60275030)

摘　　要：从临床应用的角度出发,提出了一种6自由度的主被动式辅助腹腔镜手术机器人。3个主动关节由步进电机驱动,实现机器人末端空间位置的变换,被动姿态关节无驱动安装在小臂末端,在机器人主动关节的带动下实现随动运动,用于手术中腹腔镜姿态的调整,被动姿态关节的设计使机器人更加符合实际手术的要求。建立了腹腔镜的位姿模型并求出了腹腔镜实现锥形位置空间和腹腔镜轴向位移的位姿逆解,运用MATLAB对机器人进行了运动学仿真研究,仿真结果表明,机器人能够很好地完成腹腔镜位姿调整及保持的任务。Start from the angle of clinical application, a kind of 6 degree of freedom active-passive typed auxiliary laparoscope operational robot was put forward. Three active joints were driven by step motors to realize the transformation of spatial positions of the robotic ends. The passive posture joint without drive was installed at the end of the small ann; it achieved the followed movements under the drive of robotic active joint and was used for the adjustment of the laparoscope posture in the operation. The design of passive postured joint made the robot accord even more with the requirements of practical operation. The posture model of laparoscope was established and the posture reverse solution was found out for the realization of conical positional space of laparoscope and the axial displacement of the laparoseope. Using MATLAB to carrying out kine-matics simulation study on the robot, the result of simulation indicated that the robot could accomplish nicely the tasks of posture adjustment and maintenance of laparoscope.

关 键 词：主被动式 腹腔镜手术机器人 腹腔镜位姿模型 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]