颌骨重建手术多臂机器人构型设计与干涉分析  

Configuration design and interference analysis of multi-arm robot for mandible reconstruction

作　　者：赵洪华[1] 赵建 段星光[2] 胡志通 田倩倩 赵耀华 ZHAO Honghua;ZHAO Jian;DUAN Xingguang;HU Zhitong;TIAN Qianqian;ZHAO Yaohua(School of Mechanical Engineering,University of Jinan,Jinan 250022,Shandong,China;Intelligent Robotics Institute,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]济南大学机械工程学院,山东济南250022 [2]北京理工大学智能机器人研究所,北京100081

出　　处：《山东大学学报（工学版）》2019年第6期73-80,共8页Journal of Shandong University（Engineering Science）

基　　金：国家重点研发计划(2018YFF01013402);国家自然科学基金资助项目(61673064);北京市自然科学基金项目(L182025&4192053);山东省自然科学基金项目(ZR2018MF022);山东省重点研发计划项目(2017CXGC0905,2017CXGC1505,2018CXGC0901)

摘　　要：基于颌骨重建手术要求和手术机器人设计准则,提出主被动结合的7自由度3手臂构型方案。为了满足手术机器人机械臂干涉分析高效率的要求,采用线形扫描球(linearly swept sphere,LSS)单元体模型简化复杂结构的机械臂,构建两圆柱体之间、圆柱体与半球体之间以及两半球体之间的干涉数学模型,并提出有效干涉点的概念及干涉点有效性的判断方法,得到机械臂在任意位置下的干涉判断准则。基于机器人平台的无干涉控制试验验证了方法的正确性,与传统干涉分析方法相比,该方法简化了基本几何体模型干涉分析的判据和过程,减少了模型相互之间干涉判断的次数,进一步提高了干涉分析的效率。Based on the requirements of mandible reconstruction surgery and the design criteria of surgical robots, a seven degree of freedom three-arm configuration with active and passive combination was proposed. In order to meet the requirement of high efficiency of interference analysis for manipulator of surgical robot, the linear swept sphere element model was used to simplify the manipulator with complex structure. The interference mathematical models between two cylinders, between cylinders and hemispheres, and between two hemispheres were constructed. The concept of effective interference points and the method of judging the effectiveness of interference points were proposed. The interference judgment of the manipulator at any position was obtained. The experiment of non-interference control verified the correctness of the method by robot platform. The method simplified the criterion and process of interference analysis of basic geometric model, reduced the number of interference judgments between models, and improved the efficiency of interference analysis.

关 键 词：手术机器人 构型设计 线形扫描球 干涉分析 效率 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]