四自由度微创手术器械的机构综合及运动学分析  

Mechanism synthesis and kinematic analysis of 4-DOF minimally invasive surgical instrument

作　　者：李坤 李继华 李磊 卓越 潘博[2] 付宜利[2] LI Kun;LI Ji-hua;LI Lei;ZHUO Yue;PAN Bo;FU Yi-li(School of Mechanical and Electronic Engineering,Shandong Jianzhu University,Jinan 250101,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]山东建筑大学机电工程学院,山东济南250101 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《浙江大学学报（工学版）》2022年第6期1119-1126,共8页Journal of Zhejiang University：Engineering Science

基　　金：山东建筑大学博士科研基金资助项目(XNBS1619);山东省重点研发计划(公益类)资助项目(2019GGX104056)。

摘　　要：以夹持器为例,设计由伺服电机驱动和钢丝线轮传动的四自由度微创手术器械.手术器械末端采用微型化设计,以适于远距离传动的钢丝驱动,改善手术器械在狭窄工作空间中的灵活度.描述手术器械的构型原理和尺度设计,包括腕部、夹钳和器械轴;分析钢丝线轮传动机构的工作原理及腕部与夹钳的运动耦合.研究手术器械的运动学特性,包括运动学正解、工作空间分析、速度雅克比变换和奇异性分析.测试手术器械和驱动平台的原理样机表明,该器械能够满足微创手术相关技术操作的要求.Taking the grasper as an example,a 4-DOF minimally invasive surgical(MIS)instrument driven by servo motors and transmitted by cables was designed.Miniaturization design of the end of surgical instrument was driven by cables suitable for long distance transmission,which improved the dexterity of the surgical instrument working in narrow space.Mechanism principle and dimensional synthesis including the wrist,grasper and shaft rolling were described.Working principle of the cable-capstan transmission mechanism and kinematic coupling between the wrist and grasper were analyzed.Kinematic characteristic of the surgical instrument including forward kinematics,working space analysis,Jacobian transformation,and singularity analysis were described.A prototype of the surgical instrument and driving platform testing shows that the instrument prototype can be applied in most MIS operations.

关 键 词：微创手术机器人 手术器械 机构综合 运动学分析 器械样机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]