面向动物微创手术的冗余机械臂避障运动规划  

Redundant Robotic Arm Obstacle Avoidance Motion Planning for Animal Minimally Invasive Surgery

作　　者：夏胜男 邢宏军 杨海燕[1] XIA Shengnan;XING Hongjun;YANG Haiyan(Department of Neurology,Nanjing Drum Tower Hospital,Nanjing University Medical School,Nanjing,Jiangsu 210008,China;National Key Laboratory of Aerospace Mechanism,Nanjing University of Aeronautics and Astronautics,Nanjing,Jiangsu 210016,China)

机构地区：[1]南京大学医学院附属鼓楼医院神经内科,江苏南京210008 [2]南京航空航天大学宇航空间机构全国重点实验室,江苏南京210016

出　　处：《自动化应用》2025年第2期36-39,共4页Automation Application

基　　金：国家自然科学基金项目(52405025);江苏省自然科学基金项目(BK20230889)。

摘　　要：作为一种高灵巧、高精度的任务执行工具,冗余机械臂逐渐被广泛应用于医疗、人机协作等诸多领域,但由于有限的操作空间,在实际辅助动物微创手术过程中可能出现与医生碰撞等问题。因此,提出了一种针对冗余机械臂执行物体搬运的运动规划方法,建立了其运动学模型,并基于其冗余自由度解决了机械臂在作业中的避障问题。As a highly agile and high-precision task execution tool,redundant robotic arms are gradually being widely used in various fields such as healthcare and human-machine collaboration.However,due to limited operating space,there may be issues such as collisions with doctors during the actual assisted animal minimally invasive surgery process.Therefore,a motion planning method for object handling with redundant robotic arms was proposed,and its kinematic model was established.Based on its redundant degrees of freedom,the obstacle avoidance problem of the robotic arm during operation was solved.

关 键 词：微创手术 冗余机械臂 避障 运动规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]