微创手术机器人灵活工作空间的分析与优化  

Analysis and Optimization of Flexible Workspace for Minimally Invasive Surgical Robot

作　　者：王汉飞[1] 刁燕[1] 罗华 王强[1] 

机构地区：[1]四川大学制造科学与工程学院,成都610065

出　　处：《机械制造》2016年第6期23-25,共3页Machinery

基　　金：四川省科技支撑计划(编号:2012FZ0042)

摘　　要：以冗余八自由度微创手术机器人为研究对象,通过对手术机器人构型,采用D-H法和坐标变换相结合的方法,建立构件固连坐标系对机器人进行正运动学分析,利用蒙特卡罗法方法生成手术机器人的工作空间,满足了机器人的工作要求。以雅克比矩阵条件数的倒数为理论基础,通过MATLAB编制程序,求出微创手术机器人工作空间任意一点的灵活度,用图形仿真出工作空间任一点的灵活度分布以及灵活工作空间,为手术切口位置的布置及手术路径的规划提供了可靠数据。利用全局性能指标GCI作为优化指标,建立了优化目标函数,通过遗传算法进行优化计算,得出影响机构灵活工作空间的最优机构参数,满足了机器人灵活性的要求。It took 8-DOF redundant minimally invasive surgical robot as the research object to configure the surgical robot and combines the D-H method with coordinate transformation to set up a coordinate system that fixes to the organ elements. Through kinetic analysis of the robot and by generation of the workspace for the surgical robot via Monte Carlo method, the work requirements of the robot was satisfied. It took the reciprocal of the condition number of Jacobian matrix as the theoretical basis to find out the flexibility at any point in the workspace of the minimally invasive surgical robot through MATLAB programming. Then, the flexibility distribution at any point of the work space and the flexible workspaee may be obtained by graphical simulation to provide reliable data for the location of surgical incision and planning of surgical path. The global performance index GCI was used as optimization metrics to create the optimization objective function and genetic algorithm was adopted to optimize the calculation. Finally the optimal organ parameters affecting the flexible workspace of the organ could be arrived to satisfy the requirements of the robot flexibility.

关 键 词：微创手术机器人 蒙特卡罗法 雅克比矩阵 灵活工作空间 全局性能指标 遗传算法 

分 类 号：TH113[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]