CT导航混联医疗机器人灵活性研究

Topological structure optimization of medical hybrid robot based on dexterity

总结了目前医疗机器人灵活性的分析方法,基于服务球的数值法,对5R串联机器人和4H并联机器人进行了灵活度计算,得到了各自的任务灵活度.针对9-DOF冗余度串并混联医疗机器人运动学的复杂性以及难以获得逆解的解析解的状况,给出了串联部分、并联部分的位移流形,推导了混联机器人的位移流形.提出了混联机器人的灵活性分析方法,即基于位移流形(黎曼流形)的方法,并定义了混联机器人灵活度的通用解析表达式.基于黎曼曲面外接椭球面的面积计算,得到混联机器人的灵活度超过了CT导航手术所需的灵活度,满足手术要求,为微创外科混联机器人灵活性分析和度量提供了新的参考.

The current methods for dexterity analysis of medical robot were summarized. With numerical approach based on service sphere, dexterity calculation for 5R serial robot and for 4H parallel robot was implemented, and each task dexterity was obtained. Because of kinematics＇ complexity of hybrid redundant 9-DOF robot, and also because of being difficult to gain analytic solution of inverse kinematics, the displacement manifold for serial robot and displacement manifold for parallel robot were provided. At the same time, the displacement manifold for hybrid robot was deduced. In terms of above investigation, the dexterity analysis method was put forward, namely method based on Riemann manifold. The general analytic expression of hybrid robot dexterity was defined. On the base of area calculation for circumscribed ellipsoid surface of Riemann surface, a conclusion that hybrid robot dexterity is much greater than the dexterity needed for CT-guided surgery was drew. A novel idea for analysis and measurement of dexterity which is an important performance for hybrid robot in minimally invasive surgery was provided.