摘要
腹腔镜微创外科手术作为微创手术的代表,是对传统开放性手术的一次重大变革;文章结合腹腔镜微创外科手术的特点和技术要点,对微创外科手术机器人的从手进行了结构设计。其中为实现U轴、V轴‘定点’摆动,采用了平行四杆机构;Z轴平移采用了滚动丝杠机构,这样使得机构整体的重量小,刚度和精度都得到了保证。另外,所设计的机器人具有对称的双4自由度,操作灵活,能完全达到或超过医生直接操作所能达到的水平。为了方便手术时从手的定位和调节,设计了一个可调节的从手手术平台。
Endoscope MIS （EMIS） is the representation of MIS, and it＇ s the innovation to the field of traditional open surgical operation; this paper presents configuration design of the slave manipulator of MIS robot, according to the characteristics and main technology of EMIS. The swing of U shaft and V shaft adopted parallel four-bar mechanism in order to carry out the ＇pointing＇ swing; and the Z shaft transition adopted microballscrew mechanism, minimized the weight and ensured the precision and precision of the whole mechanism. In addition the designed robot has symmetrical four-DOFs（ Degree Of Freedom）, can be flexibly operated . The robot can also achieve or exceed the level that the doctor can achieve. In order to locate and adjust the slave manipulators in a surgery, an adjustable operating table is designed.
出处
《组合机床与自动化加工技术》
2006年第2期26-28,共3页
Modular Machine Tool & Automatic Manufacturing Technique
