可满足微创手术灵活工作空间的混联机器人研究  

Study on Hybrid Robot Meeting the Dexterous Workspace Demand of Minimally Invasive Surgery

作　　者：罗华 徐建柱[1] 姚林[2] 陈章平[1] 刁燕[1] 

机构地区：[1]四川大学制造科学与工程学院,四川成都610065 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《四川大学学报（工程科学版）》2011年第4期236-240,共5页Journal of Sichuan University (Engineering Science Edition)

基　　金：四川省科技支撑计划资助项目(07GG008-026);中央高校基本科研业务费资助项目(2009SCU11091)

摘　　要：针对微创手术对机器人提出的高灵活性要求,设计出一种具有混联结构的微创外科手术机器人,并通过灵活工作空间分析进行结构优化,为合理布置手术切口及规划手术路径,利用末端手术工具服务球和服务区进行工作空间灵活性分析,通过数值解得到混联机器人工作空间内任意点的灵活度,并绘制出工作空间水平截面灵活性分布图,为手术切口位置和工具杆末端运动路径提供工作数据;再以工作空间水平截面灵活度大于0.85的灵活点数目作为评价指标,定量分析了姿态机构腕关节转角范围及手术工具杆长度对灵活性的影响,为微创外科混联机器人的结构优化提供了计算依据。仿真对比和优化后的实物实际运动结果均证明了该混联机器人可满足微创手术的灵活性要求。Aiming at the demand of great dexterity in minimally invasive operation,one minimally invasive surgical robot was designed with hybrid structure.The configuration of the robot was optimized based on results of dexterous workspace.To layout an incision and plan the operation path reasonably,the dexterous workspace was analyzed according to the service sphere and service areas of the end tool.So the flexibility ratio of any point in the workspace was obtained by numerical approach.The dexterity distribution of workspace horizontal section was also mapped out.The results provided operational data for incision layout and operation path planning.The number of points in the workspace horizontal section,whose dexterity degree was greater than 0.85,was taken as the appraise criterion.Therefore,the influence on the dexterity,coming from the wrist joint rotation range and the length of the operation tool,was analyzed quantitatively.It provided computation basis for structure optimization of the minimally invasive surgical hybrid robot.Both the results of simulation and actual motion of model proved that the hybrid robot could satisfy the dexterous requirement of minimally invasive surgical.

关 键 词：微创外科机器人 运动学 灵活工作空间 混联结构 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]