胸腹腔外科手术机器人工作空间求取方法

Workspace Searching Method of Thoracic and Celiac Surgical Robot

探讨了作者设计的可用于微创胸腹腔外科手术的双臂机器人结构,分析了机器人双臂协同工作的原始工作空间。针对原始工作空间的位姿、形状、体积不易确定的缺点,提出了重新定义的旋转体形状的新工作空间和求取其位姿、形状、体积的方法,克服了原始工作空间不易确定而导致术前规划困难的缺点。计算实例表明该方法有效可行,应用该方法可在术前规划中快速定位实际手术区域,为应用该机器人进行微创胸腹腔手术仿真和实际手术奠定了基础。

The mechanism of the two-arm robot designed by authors that can be used in the minimally invasive thoracic and celiac surgeries is discussed, and the original workspace of the robot in which the two arms of the robot cooperate to perform the operation is analyzed. Aiming at the drawbacks that the pose, shape and volume of the original workspace are uneasy to be found, the redefined new workspace which is a rotational body is presented, and the way to find the pose, shape and volume of the new workspace is proposed. Hence, the disadvantage due to the difficulty in preoperative planning resulting from the hard workspace identification is resolved. The computation example shows the method is effective, and it can be used in preoperative planning to find the actual operation space quickly. The good base for the minimally invasive thoracic and celiac surgery simulation using the robot and the actual operation is established.