穿刺手术机器人虚拟仿真与人因工效研究  

Research on virtual simulation and human ergonomics of percutaneous surgery robot

作　　者：王帅 张芳兰[1] 侯雨雷[2] 闫江涛 陈国强[1] WANG Shuai;ZHANG Fanglan;HOU Yulei;YAN Jiangtao;CHEN Guoqiang(School of Art and Design,Yanshan University,Qinhuangdao 066004;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004;Department of Orthopedics,Qinhuangdao First Hospital,Qinhuangdao 066099)

机构地区：[1]燕山大学艺术与设计学院,河北秦皇岛066004 [2]燕山大学机械工程学院,河北秦皇岛066004 [3]秦皇岛市第一医院骨科,河北秦皇岛066099

出　　处：《机械设计》2025年第2期83-91,共9页Journal of Machine Design

基　　金：国家社会科学基金艺术学项目(21BG125);2023年度教育部人文社会科学研究规划基金项目(23YJA760112);2023年度河北省社会科学发展研究课题(20230204001)。

摘　　要：为解决穿刺手术机器人设计中的空间配置、姿态干涉及人机交互等复杂问题,文中提出了一种基于失效模式与影响分析(FMEA)、JACK人机工程仿真工具和UE5实时渲染技术的综合评估与优化策略。首先,运用FMEA深入挖掘穿刺手术机器人关键结构的潜在失效模式,据此制订出针对性的优化设计方案;其次,基于JACK软件构建数字化人体模型,精准模拟医师在执行关键手术任务时的动作与姿态,全面评估人机交互中的碰撞干涉、可视域与可达域、工作姿势及上肢与下背部舒适度等关键指标;随后,采用UE5构建高精度机器人动态结构模型,使其与数字人体模型的关键手术动作形成动态交互映射关系。经FMEA评估后,优化设计的各项结构组件的风险优先级数(RPN)显著降低且均未超过阈值125,有力证明了该研究方法的有效性和实用性。采用FMEA方法能有效识别并改进穿刺手术机器人的人因工效问题,整合JACK和UE5的虚拟仿真体系,成功实现了对人体工作姿态与机器人可动结构的同步验证,增强了仿真过程的可视化表现,从而大大降低了样机试制阶段的潜在风险。In this article,in order to solve such complex problems as spatial configuration,pose interference,and humanmachine interaction in the design of puncture surgery robots,a comprehensive evaluation and optimization strategy is proposed,based on failure mode and effect analysis(FMEA),JACK human-machine engineering simulation tool,and UE5 real-time rendering technology.Firstly,FMEA is used to deeply explore the potential failure modes of the puncture surgery robot’s key structures;on this basis,a targeted scheme of optimal design scheme is formulated.Secondly,a digital human model is built with the help of the JACK software,thus accurately simulating the surgeon’s actions and postures when he is performing key surgical tasks,and comprehensively evaluating key indicators during human-machine interaction,such as collision interference,field of visibility and reachability,working posture,comfort upper limb and lower back,and so on.Then,a high-precision dynamic structure model of the robot is set up through UE5,making it dynamically interact and map with the key surgical actions of the digital human model.After the FMEA evaluation,RPN of the optimized structural components significantly reduces and doesn’t exceed the threshold of 125,effectively proving that this method is effective and practical.The FMEA method is helpful to effectively identify and improve human ergonomics of the puncture surgery robot.The virtual simulation system which integrates JACK and UE5 successfully achieves synchronized verification of humans’working postures and robots’movable structures,enhances visualization of the simulation process,and greatly reduces potential risk in the prototype-test stage.

关 键 词：穿刺手术机器人 人因工效学 虚拟仿真 FMEA JACK UE5 

分 类 号：TH122[机械工程—机械设计及理论]