多自由度手术器械的结构设计与工作空间仿真  

Structure Design and Workspace Simulation of a Multi-degrees of Freedom Surgical Instrument

作　　者：吕坤勇[1] 朱勋[2] 沈桐[1] 宋成利[1] 

机构地区：[1]上海理工大学医疗器械与食品学院,上海200093 [2]上海理工大学机械工程学院,上海200093

出　　处：《机械科学与技术》2016年第12期1888-1893,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51175345);上海市研究生创新基金项目(JWCXSL1301)资助

摘　　要：介绍了一种钢丝绳驱动的串联弯曲结构,并对其进行结构优化和工作空间仿真。通过理论分析及数值仿真,避免传统结构弯曲时发生的钢丝绳松弛现象,提高控制精度。建立手术器械的运动模型,用D-H法进行正向运动学求解,得到器械末端位置,采用数值仿真法模拟多自由度器械与传统直器械的工作空间,并进行对比分析。结果表明多自由度器械相比传统直器械工作空间更大,具有更好的灵活性。A novel cable driving serial bending unit was introduced, and structural optimization and workspace simulation were carried out. With theoretical analysis and numerical simulation, the bending unit was optimized to prevent cable slacking during bending operation, and control accuracy was enhanced. Forward kinematic model of multi-degrees of freedom instrument was established and the final position was calculated by Denavit-Hartenberg （D-H） method. Based on Monte Carlo methods, workspace of multi-degrees of freedom instrument and traditional straight instrument was obtained and compared, and then the Unigraphies （UG） software was employed to calculate the exact workspace volume. The results indicated that multi-degrees of freedom instrument had more workspace and dexterity than straight instrument.

关 键 词：多自由度器械 微创手术 钢丝绳松弛 D—H法 工作空间 

分 类 号：TH132[机械工程—机械制造及自动化]