一种新型双臂协作消化道手术机器人的结构设计与运动学分析  

Structural Design and Kinematic Analysis of a Novel Two-arm Collaborative Digestive Tract Surgical Robot

作　　者：王盛松 张涛[2] 程天宇 苏静 杜付鑫[2,3,4] WANG Shengsong;ZHANG Tao;CHENG Tianyu;SU Jing;DU Fuxin(Shandong Province Food and Drug Review and Inspection Center,Jinan 250014,China;School of Mechanical Engineering,Shandong University,Jinan 250061,China;Key Laboratory of Efficient Clean Machinery Manufacturing,Ministry of Education(Shandong University),Jinan 250061,China;School of Control Science and Engineering,Shandong University,Jinan 250061,China)

机构地区：[1]山东省食品药品审评查验中心,济南250014 [2]山东大学机械工程学院,济南250061 [3]高效洁净机械制造教育部重点实验室(山东大学),济南250061 [4]山东大学控制科学与工程学院,济南250061

出　　处：《机械工程师》2024年第4期61-64,共4页Mechanical Engineer

基　　金：国家重点研发计划(2022YFB4703000);山东省重点研发计划(2022CXGC010503);山东省博士后创新人才资助计划(238226)。

摘　　要：与传统的内镜下微创手术相比,消化道手术机器人辅助下的微创手术具有高灵活性、高柔性及高精度的优势。但是消化道手术机器人的研究起步较晚,存在操作臂自由度不足、末端控制信息不准确等问题。文中设计了一种新型双臂协作消化道手术机器人系统,提出一种操作臂的快速更换装置。结果显示,机器人双臂工作空间满足手术机器人需求,连续体操作臂的定位误差在1.5 mm以内,正逆运动学算法准确性较高。Compared with traditional endoscopic minimally invasive surgery,robotic-assisted minimally invasive surgery in the digestive tract has the advantages of high flexibility,high flexibility,and high accuracy.However,the research on digestive tract surgical robots started late,and there are problems such as insufficient freedom of the operating manipulator and inaccurate end-point control information.This paper designs a new two-arm collaborative digestive tract surgical robot system,and proposes a quick-change device for the manipulator.The results show that the workspaces of the two manipulators meet the needs of a surgical robot,and the positioning error of the continuum manipulator is within 1.5 mm,and the accuracy of the forward and inverse kinematic algorithms is high.

关 键 词：消化道手术机器人 双臂协作 连续体操作臂 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]