血管介入手术机器人推进机构设计及精度研究  

Design of a propulsive mechanism for vascular interventional robots and its precision research

作　　者：罗彪[1] 曹彤[1] 和丽[1] 刘达[2] 

机构地区：[1]北京科技大学机械工程学院,北京100083 [2]北京航空航天大学机器人所,北京100191

出　　处：《高技术通讯》2010年第12期1281-1285,共5页Chinese High Technology Letters

基　　金：863计划(2009AA04531);国家自然科学基金(60705033)资助项目

摘　　要：根据血管介入手术的需求,研制了一种高精度、高可靠性、可远程操作的新型血管介入手术机器人推进机构,详细论述了其设计理念及机构原理,同时制作出了样机。基于此样机开展了推进机构的精度研究,分析了影响推进机构精度测试实验,实验结果证明了所开发的推进机构满足精度设计要求。A new-type vascular imerventional surgical robot propulsive mechanism which is high-precision, high-reliability and remote-contmllabe is designed according to the needs of vascular interventional procedures. Design principles and institutions of the propulsive mechanism are described in detail. Accuracy research is carried out based on the vascular inter- ventional surgical robot propulsive mechanism, and the factors that affect the accuracy of propulsive mechanism is ana- lyzed, a series of accuracy experiments are carried out, which validate that the propulsive mechanism satisfies the required design accuracy.

关 键 词：血管介入 机器人 推进机构 精度研究 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]