腹腔微创手术机器人末端执行机构的设计和实现  

Design and Implementation of the Robotic End Effector for Minimally Invasive Celiac Surgery

作　　者：冯美[1] 付宜利[1] 潘博[1] 朴明波[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机器人》2009年第1期47-52,共6页Robot

基　　金：国家863计划资助项目(2007AA04Z248).

摘　　要：为了提高腹腔微创手术的安全性,设计了一种新型的腹腔微创手术机器人末端执行机构,用于夹持手术器械.根据腹腔微创手术的特点和技术要求,采用轴驱动和平行四杆的运动原理设计定点机构.详细介绍了末端执行机构的机械结构,应用D-H法和矢量代数法给出了各个关节的运动学解公式,研究了控制系统的硬件结构和软件系统,并进行了样机实验.实验表明所设计的末端执行机构具有很好的定点运动效果,能够较好地完成手术规划,满足腹腔微创手术要求.In order to improve the safety of minimally invasive celiac surgery, a new robotic end effector is designed, which is used to hold the surgical instruments. According to the characteristics and technical requirements of minimally invasive celiac surgery, a ＂swing-point＂ mechanism is designed with the principle of axis-drive and parallel linkage motion, and the mechanical structure design of the end effector is introduced in detail. Kinematics solution formulas of the joints are presented by using D-H and linear algebra methods, the hardware structure and software system of the control system are studied, and the performance of the end effector is tested with prototype experiments. Experiments show that the designed end effector has good ＂swing-point＂ performance, accomplishes surgical programming successfully and meets the requirements of minimally invasive celiac surgery.

关 键 词：微创手术 机器人 末端执行机构 结构设计 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]