微创手术机器人主操作手设计与优化  

Design and Optimization of the Master Manipulator of Minimally Invasive Surgery Robots

作　　者：刘芬[1] 宋立强 黄芳 韩瑞 桑宏强[1,2] Liu Fen;Song Liqiang;Huang Fang;Han Rui;Sang Hongqiang(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Modern Mechanical and Electrical Equipment Technology,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387

出　　处：《机械传动》2024年第5期54-61,74,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(N51975409)。

摘　　要：主操作手作为机器人辅助微创外科手术中人机交互的唯一接口,提高其灵活性和紧凑性,对手术效果具有重要意义。设计了一款8自由度(Degree Of Freedom,DOF)串联型主操作手,其能够实现位置、姿态和开合力矩输出。采用改进的D-H参数法和解析法,分别建立了主操作手正运动学和逆运动学模型,并通过蒙特卡洛法分析了主操作手工作空间,验证了其设计要求;求解了主操作手雅可比矩阵,基于全局灵巧度指标和工作空间利用率指标,定义了主操作手的综合性能指标;利用遗传算法对主操作手的关键连杆尺度参数进行了优化。结果表明,优化后主操作手的综合性能指标相对于优化前提高了18.41%;主操作手在满足工作空间设计要求的基础上,机构更加紧凑且具备了良好的运动性能。The master manipulator is the only interface for human-robot interaction in robot-assisted min-imally invasive surgery,and it is of great importance to improve the flexibility and compactness of the master ma-nipulator.In this study,an eight-degree of freedom(DOF)series master manipulator is designed,which can re-alize the output of positions,attitude and opening and closing torques.The forward kinematic and inverse kine-matic models of the master manipulator are respectively established by using the improved D-H parameter meth-od and the analytical method,and the workspace of the master manipulator is verified by the Monte Carlo meth-od,which meets its design requirement.The Jacobian matrix of the master manipulator is solved,the comprehen-sive performance index of the master manipulator is defined based on the global performance dexterity index and the workspace utilization ratio,and the key link scale parameters are optimized by the genetic algorithm.The re-sults show that the comprehensive performance index of the master manipulator after optimization is 18.41%higher than that before optimization,and the master manipulator is more compact,has better performance be-sides meeting the design requirements of the workspace.

关 键 词：主操作手 运动学 综合性能指标 参数优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]