微创外科手术机器人多自由度手指机构设计与研究

Design and research on multi DOF fingered mechanism of minimally invasive surgical robot

微创外科手术机器人多自由度手指机构是在满足微创手术要求的前提下,专为外科手术机器人系统研制开发的具有多个自由度的机构。该机构拥有侧摆,俯仰,旋转,夹持4个自由度,采用驱动电机与各个执行关节分离的结构形式,具有夹持灵活性好,质量轻,夹持力大,结构简单等优点,对手指机构的指尖夹持力、关节耦合关系等关键技术进行了研究,为微创外科手术机器人的进一步研制奠定基础。

With the premise of satisfying the requirements of minimally invasive surgery, the multi DOF fingered mechanism of minimally invasive surgical robot is a mechanism possessing multi- ple DOF and specially researched and developed for the surgical ro- botic system. This mechanism possesses 4 DOF of side - sway, pitching, rotation and clamping. It adopted the structural form with the driving motors to be separated from each executive joint, thus possesses the merits of good clamping agility, light massed, big clamping force and simple structured etc.. At the same time, a study was carried out on the key technologies of clamping force for the fingertip of finger mechanism and of the coupling relationship of joints etc. , thus laid a foundation for further study and development on the minimally invasive surgical robots.