微创手术机器人的丝传动误差分析  

Error analysis of tendon-sheath transmission of minimally invasive surgical robot

作　　者：原伟 姜杉[1] 杨云鹏 王伟[2] 杨志永[1] YUAN Wei;JIANG Shan;YANG Yun-peng;WANG Wei;YANG Zhi-yong(College of Mechanical Engineering,Tianjin University,Tianjin 300072;Department of Radiation Oncology,Tianjin Medical University Cancer Hospital,Tianjin 300060)

机构地区：[1]天津大学机械工程学院,天津300072 [2]天津医科大学附属肿瘤医院放疗科,天津300060

出　　处：《机械设计》2018年第7期41-46,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51175373);天津市重大科技专项资助项目(14ZCDZGX00490)

摘　　要：针对CT引导下微创手术机器人设计中的空间限制及驱动兼容性问题,提出了一种新型的丝传动驱动方式。分别对轴向绕丝方式和径向绕丝方式建立运动误差模型并进行了分析,结果表明轴向绕丝方式造成的误差小于径向绕丝方式。搭建了丝传动误差测量实验台,测得的传动阶段的绕丝误差变化趋势与理论分析一致,并且发现迟滞误差也是造成丝传动误差的重要因素。然后,通过试验测量丝传动迟滞误差并进行补偿,使丝传动关节换向运动时的定位误差平均降低了33%。This paper presents a new tendon-sheath transmission mode,in order to solve the problem of space constraints and CT compatibility in the design of CT guided minimally invasive surgery robot. The motion error models of the axial and radial wire winding are established and analyzed respectively. The result shows that the error caused by the axial winding is less than that in the radial direction. The experimental platform for measuring the tendon-sheath transmission error is set up,which is in consistent with the theoretical analysis. In addition,it is found that the hysteresis error is also an important factor to cause the error of tendon-sheath transmission. Then,the hysteresis error is measured and compensated through a series of experiment,which reduces the positioning error of tendon-sheath driving joint by an average of 33% in the commutation process.

关 键 词：穿刺机器人 丝传动误差模型 误差测量试验 误差补偿 

分 类 号：TH132[机械工程—机械制造及自动化]