基于钢丝传动的腹腔微创手术机器人手术器械的设计和实现  

Design and implementation of a invasive celiac surgical robots surgical instrument for minimally based on steel wire transmission

作　　者：付宜利[1] 冯美[1] 潘博[1] 朴明波[1] 王树国[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,哈尔滨150080

出　　处：《高技术通讯》2011年第10期1062-1067,共6页Chinese High Technology Letters

基　　金：863计划（2007AA042248）资助项目.

摘　　要：为了提高腹腔微创手术机器人操作的灵活性，设计并研制了一种新型的腹腔微创手术器械，用于代替医生完成对组织或器官的夹持、缝合和提取等手术操作。应用Pro／E三维建模并导入Recurdyn进行了结构性能的仿真分析，采用D．H法对手术器械以及夹持手术器械的末端执行机械手进行运动学分析，结合手术器械和Force Dimension Omega主手的运动学特点给出了控制规律，并进行了样机实验。实验结果表明所设计的手术器械可以很好地实现四自由度运动，并能够完成腹腔微创手术所需的各种手术操作。In order to improve the operation flexibility of a celiac minimally invasive surgery robot, a new surgical instrument for minimally invasion surgery is prestented, which is used to do the surgical operations such as gripping, suturing and picking up tissues or organs. The mechanism design of the instrument was based on steel wire transmission, the Pro/E software was used to model the surgical instrument and the model was imported into the Recurdyn software for the instrument＇ s simulation and performance analysis. The kinematics analysis of the surgical instrument and the end effector for holding the surgical instrument was conducted by using the D-H method, and the control scheme was proposed and realized in view of the kinematics characteristics of the surgical instrument and the Force Dimension Omega master. Finally, the performance of the surgical instrument was tested by its prototypic experiments. The experimental results show that the designed surgical instrument can achieve the 4-DOF movement and complete various surgical operations well and meet the demands of the celiac minimally invasive surgery.

关 键 词：微创手术 机器人 手术器械 结构设计 

分 类 号：TP368.3[自动化与计算机技术—计算机系统结构]