主被动混合式微创手术机械臂机构设计及灵巧度优化  

Mechanical Design and Dexterity Optimization for Hybrid Active-Passive Minimally Invasive Surgical Manipulator

作　　者：马如奇[1] 董为[1] 杜志江[1] 李刚[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》2013年第1期81-89,共9页Robot

基　　金：国家863计划资助项目(2009AA044001)

摘　　要：研制出一款可开展微创手术的双机械臂机器人系统,该系统配合手术微器械可以实现精确的腹腔内手术操作.通过分析微创手术的手术环境及手术操作特点,提出了采用机器人开展微创手术对机器人自身机构设计的基本要求,并在此基础上重点对机械臂机构进行设计和优化.该机械臂可以按照微创手术的实际需求,实现机器人的术前摆位、术中器械操作及器械的快速拆装更换,并且可以从机构上保证术中器械在患者腹壁切口处位置不变,避免术中因手术器械运动而对腹壁切口造成非手术性损伤.此外,借助于机器人雅可比矩阵的奇异值,构造了基于条件数和可操作度的综合灵巧度评价指标函数,并采用序列二次规划算法对机械臂杆件参数进行优化.优化结果表明,机械臂具有良好的各向同性及可操作度,很好地满足了微创手术对机械臂机构灵活性的要求.A robot system with double manipulators used for minimally invasive surgery（MIS） is developed,which can perform operation precisely in the abdomen through cooperation with the instruments.By analyzing the operation environment and characteristics of the MIS,the basic requirements for the mechanical design of manipulator to perform MIS operations are presented.Based on those analysis and requirements,the paper mainly focuses on the mechanical design and optimization of the manipulator.According to the actual requirements of MIS,the manipulator can execute preoperative incision positioning,intraoperative instruments operating and instruments dismounting and replacing.Moreover,the mechanical design of the manipulator can also guarantee the instruments to stay unchangeably at the incision of the patient,which can avoid the non-operative damage to the incision caused by the instrument’s operating movements.Furthermore,by using the singular value of the robotics Jacobian matrix,a comprehensive dexterity evaluation index function based on conditional number and operability of the manipulator is proposed,and the dimensional parameters of the manipulator are optimized by adopting the sequential quadratic programming（SQP） algorithm.The optimization results indicate that the manipulator features isotropy and operability,and meets the MIS requirements for commendable mechanical dexterity.

关 键 词：微创外科手术 机械臂优化 机构灵巧度 机构设计 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]