变构型微创手术机器人系统设计与实现  

Design and Development of a Variable-Configuration Minimally Invasive Surgical Robot System

作　　者：孔康[1] 代迎凯 杨英侃[1,2] 苏赫 Kong Kang;Dai Yingkai;Yang Yingkan;Su He(School of Mechanical Engineering,Tianjin University,Tianjin 300350,China;Tianjin WEGO Detai Medical Technology Co.,Ltd.,Tianjin 300308,China)

机构地区：[1]天津大学机械工程学院,天津300350 [2]天津威高德泰医疗科技有限公司,天津300308

出　　处：《天津大学学报（自然科学与工程技术版）》2024年第10期1030-1043,共14页Journal of Tianjin University：Science and Technology

基　　金：国家重点研发计划资助项目(2019YFB1311502);国家自然科学基金资助项目(52175028).

摘　　要：高性能微创手术机器人有利于实施复杂危难手术,推动微创外科实现高质量发展.在深入分析现有手术机器人特点和临床需求的基础上,提出了一种变构型微创手术机器人系统.基于刚柔混合结构设计了构型可变的手术操作臂,通过构型变换可实现工作空间的变换,从而提高操作臂的灵活性.手术操作臂采用丝传动结构,针对变曲率丝鞘传动下的张力和弹性伸长量等问题进行了分析,确定了开合关节的丝鞘传动特性.基于刚体和柔性关节运动学,分析了手术操作臂在不同构型下的工作空间,通过调整伸缩关节移动量,实现操作臂工作空间可变功能.此外,设计了与操作臂适配的主手操作臂,该主手配置有两个主从调节关节,以保证主手与从手腕点姿态的一致性.随后,解析了主手与从手关节量之间的映射关系,并建立了基于位姿分离的主从运动映射算法,从而确保了操作舒适性与精准性.最后,研制了物理样机,进行了大工作空间下的刚性测试实验、运动性能、主从运动性能与缝合操作性能评价实验,全面验证了所提出的手术机器人系统的可行性.A high-performance,minimally invasive surgical robot is advantageous for complex and critical surgeries and promotes high-quality development in minimally invasive surgery.Based on an in-depth analysis of the character-istics of existing surgical robots and clinical needs,a variable-configuration minimally invasive surgical robot system was proposed.A manipulator with a variable configuration was designed based on a rigid-flexible hybrid structure.The flexibility of the manipulator was improved by transforming the workspace using configuration transformation.The surgical manipulator adopted a wire-driven structure.The tension and elastic elongation of the cable-driven structure were analyzed under variable-curvature cable-sheath transmission,and transmission characteristics of opening and closing joints were determined.On the basis of rigid and flexible joint kinematics,the workspace of the surgical ma-nipulator was analyzed under different configurations.The variable function of the manipulator workspace was achieved by adjusting the movement of the telescopic joint.In addition,a master manipulator compatible with the manipulator was designed.The master manipulator was equipped with two master-slave adjustment joints to ensure consistency of the master and slave wrist postures.Subsequently,a master-slave motion mapping algorithm based on pose separation was established to determine the relationship between the master and slave joint angles,thus ensuring the comfort and accuracy of the operation.Finally,a physical prototype was developed,and comprehensive experiments,including rigidity testing in a large workspace,motion performance testing,master-slave motion perform-ance testing,and suturing operation performance evaluation,were conducted to fully verify the feasibility of the proposed surgical robot system.

关 键 词：微创手术机器人 操作臂 主从控制 实验研究 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]