手持式显微外科手术机器人设计与仿真研究  

Design and Simulation of Hand-Held Microsurgery Robot

作　　者：张洪鑫 于阳[1] 徐振邦[1] 刘宏伟[1] ZHANG Hong-xin;YU Yang;XU Zhen-bang;LIU Hong-wei(Changchun Institute of Optics,Fine Mechanics and Physics,CAS,Changchun Jilin 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中科院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100049

出　　处：《计算机仿真》2022年第11期443-447,476,共6页Computer Simulation

基　　金：白求恩医学工程与仪器中心项目(BQEGCZX2019066);国家自然科学基金项目(11972343)。

摘　　要：为提高显微外科手术精度,设计了手持式显微外科手术机器人代替传统手术器械,用于反向补偿人手不自主的颤动。针对现有手持式机器人外形尺寸大,缺乏远运动中心点以及运动范围小等问题,在结构设计和运动学方面展开研究。基于Gough-Stewart构型设计了手持式机器人的整体结构,采用矢量分析法建立基于远运动中心点的逆向运动学模型,采用快速极坐标搜索法对手术器械尖端的工作空间进行仿真分析,搭建实验平台进行运动精度测试。结果表明,所设计手持式机器人能够实现更大的工作空间,并满足显微外科手术的设计要求。In order to improve the precision of microsurgery,a hand-held microsurgery robot was designed to compensate the involuntary tremor of the hand instead of the traditional surgical instruments.Aiming at the problems of large size,lack of far center of motion and small range of motion of the existing hand-held robot,the research on structure design and kinematics was carried out.The overall structure of the hand-held robot was designed based on the Gough-Stewart configuration,and the inverse kinematics model based on the far motion center was established using the vector analysis method.The workspace at the tip of the surgical instrument was simulated and analyzed using the fast polar coordinate search method,and the motion accuracy was tested by building an experimental platform.The results show that the designed hand-held robot can achieve a larger working space and meet the design requirements of microsurgery.

关 键 词：手持式 显微外科 手术机器人 运动学分析 工作空间分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]