对称型丝传动微创手术机构运动轨迹研究  

Research on Motion Trajectory of Symmetric Cable-driven MIS Mechanism

作　　者：岳龙旺[1] 魏垒 石晓磊[1] YUE Long-wang;WEI Lei;SHIXiao-lei(School of Mechanical and Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]河南工业大学机电工程学院

出　　处：《控制工程》2018年第8期1567-1572,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(51541508,51407062)

摘　　要：手术医生微创手术操作轨迹检测是构建微创手术操作专家数据库、进行微创手术机器人自动手术研究的基础。针对所设计的对称型、丝传动微创手术机构,通过对其各个自由度的运动分析,根据快换装置驱动轮主动角、检测角、反向运动补偿角、微创手术机构关节角之间的函数关系,构建了基于驱动轮检测角的微创手术机构关节角模型。基于该模型,实现了根据快换装置驱动轮检测角进行微创手术机构运动轨迹分析的目的,解决了丝传动微创手术机构由于径向尺寸小、关节多、运动复杂,很难通过关节角检测实现其运动轨迹分析的难题。Motion trajectory detection of minimally invasive surgery（MIS） operation of surgeons is the basis for expert database construction of MIS and intelligent MIS robot research. According to the design of the symmetric cable-driven MIS mechanism, through motion analysis of its each degree of freedom, based on the relationship of the active driving angle of the driving pulley, detection angles, reverse motion compensation angles of the quick change mechanism and joint angles of the MIS mechanism, the mathematics model of the detection angle and the joint angle is established. Based on the model, the motion trajectory of the MIS mechanism is detected through the detection angles of the quick change mechanism, which solves the motion trajectory problem of cable-driven MIS mechanism with small radial dimension, multi joints, complex motion.

关 键 词：丝传动 微创手术机构 反向运动补偿 运动轨迹 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]