Multi-optimizationofasphericalmechanismforminimallyinvasivesurgery  

作　　者：NIU Guo-jun PAN Bo ZHANG Fu-hai FENG Hai-bo FU Yi-li 牛国君;潘博;张福海;封海波;付宜利

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Journal of Central South University》2017年第6期1406-1417,共12页中南大学学报（英文版）

基　　金：Project(SS2012AA041601)supported by the National High Technology Research and Development Program of China;Project(81201150)supported by the National Natural Science Foundation of China

摘　　要：In order to obtain the remote center motion(RCM) mechanism with better performance indexes and avoid the collision of multi-manipulators in minimally invasive surgery(MIS), a novel multi-objective optimization model was presented. There were two optimization objectives: a global kinematic performance index and a comprehensive stiffness index. Other indexes to characterize the design requirements such as collision probability, workspace, mechanism parameter, mass, and wall thickness were considered as constraints. Angles between two adjacent joints and cross-section dimensions of links were chosen as the design variables. The non-dominated sorting genetic algorithm II(NSGA-II) was adopted to solve the complex multi-objective optimization problem. Then, a 3-degree of freedom(DoF) MIS robotic prototype based on optimization results has been built up. The experiments to test the spatial position change of the remote center point and to test the absolute position accuracy and repetitive position accuracy of the MIS robot were achieved, and the experimental results meet the requirements of MIS.In order to obtain the remote center motion(RCM) mechanism with better performance indexes and avoid the collision of multi-manipulators in minimally invasive surgery(MIS), a novel multi-objective optimization model was presented. There were two optimization objectives: a global kinematic performance index and a comprehensive stiffness index. Other indexes to characterize the design requirements such as collision probability, workspace, mechanism parameter, mass, and wall thickness were considered as constraints. Angles between two adjacent joints and cross-section dimensions of links were chosen as the design variables. The non-dominated sorting genetic algorithm II(NSGA-II) was adopted to solve the complex multi-objective optimization problem. Then, a 3-degree of freedom(DoF) MIS robotic prototype based on optimization results has been built up. The experiments to test the spatial position change of the remote center point and to test the absolute position accuracy and repetitive position accuracy of the MIS robot were achieved, and the experimental results meet the requirements of MIS.

关 键 词：MINIMALLY INVASIVE SURGERY medical robot multi-objective optimization remote centre motion 

分 类 号：R616[医药卫生—外科学] TP242[医药卫生—临床医学]