摘要
设计了一种基于模块化的多关节单创口腹腔微创手术机器人,由机械臂和动力部分组成,机械臂包含一个连接架和两条结构相同的手臂,安装在一个4个自由度的SCARA机器人的末端上。涉及的机器人能够在病人腹腔内部组合,并且采用双臂协同操作,每条手臂(含刀头)具有3个自由度,使得手术操作更加灵活和精确。还对该机械臂进行了正运动学和逆运动学的分析,经过仿真计算表明该机器人针对腹腔可以实现单创口手术的基本动作,且创口直径仅为12mm左右,基本满足腹腔微创手术的操作要求,验证了该设计的合理性和可行性。
A multi-joint and single-wound abdominal minimally invasive surgery robot based on the modularizing method is designed here. It is composed of a two-arm manipulator and actuation parts. The robotic manipulator includes a connecting frame and the two arms with the same structure mounted on the gripper of the four degrees of freedom SCARA robot. The robot can assemble in the patient＇s abdominal, Two arms work cooperatively, making the surgery more flexible and precise. The kinematics analysis shows that the robot can achieve single-wound surgery, and the wound is only about 12mm in diameter, to meet the basic requirements of the abdominal minimally invasive surgery.
出处
《机械设计与制造》
北大核心
2014年第5期134-137,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(61075086)
上海交通大学医工交叉基金项目(YG2012MS53)
关键词
单创口
腹腔微创
手术机器人
Single Wound
Abdominal Minimally Invasive Surgery
Robot
