腹腔微创手术机器人的结构设计与尺寸优化

Mechanical design and dimensional optimization of minimally invasive celiac surgical robot

在分析微创手术机器人构型基础上,提出了采用中空走线的被动关节及新型的远心机构的机械臂设计方案.在此基础上,开展了腹腔微创手术机械臂被动关节及远心机构的机械结构设计,并基于D-H法进行运动学分析.以机械臂可操作度作为优化目标,对其杆件尺寸参数进行优化,以提高机械臂的整体灵活性.最后,对设计的机构进行仿真分析,结果表明:所设计的微创手术机器人结构在手术过程中具有较好的稳定性和灵活性,器械定位效果理想,满足临床需求.

Based on the configuration analysis of the minimally invasive surgical robot,a design scheme was presented in which the hollow-lined passive joint and a new kind of remote-center mechanism were adopted.On the basis of that,the mechanical designs of the passive joint and the remote-center mechanism were carried out,and the forward and inverse kinematics based on D-H notation was analyzed.Regarding the operability of the manipulator as the objective function,the dimensional parameters of the manipulator were optimized to improve the whole mechanical dexterity.At last,the mechanism designed was simulated.The results show that the mechanism designed has good stability and dexterity during the surgery,and the apparatus positioning performance is also desired.Consequently,the mechanism of the minimally invasive surgical robot designed meets the clinical requirements of the invasive surgeries very well.