显微外科手术机器人手指系统的研究与开发

Research and Development on Microgripper System of Microsurgical Robot

显微外科手术机器人手指系统是在显微外科手术机器人(妙手系统)的研制过程中,针对手术的自身特点及操作要求而自主开发的.该手指系统体积小、重量轻、夹持力大、机构精简、可靠性高,可以准确实现工具的旋转与开合,能够迅速地更换末端手术工具.通过一系列的试验测试及动物试验的研究,结果表明该手指系统的设计是成功的,能够满足显微外科手术的操作要求.

Based on the characteristics and requirements of mierosurgery, a microgripper system for microsurgical robot （MicroHand system） is developed. The advantages of the microgripper system are as follows： small size, light weight, strong gripping force, condensed structure, high reliability, exact instrument rotation and open-closed motion, and easy replacement of the instrument. Through a series of tests and animal experiments, we ean draw a conclusion that the design of the microgripper system is capable of satisfying the requirements of mierosurgery and is proved to be successful.