叠加式关节腹腔微创手术机器人设计

Design of an Abdominal Minimally Invasive Surgery Robot with Overlap-type Joints

针对腹腔微创手术,设计了一种包含叠加式关节的腹腔手术机器人。手术机械臂共有四个关节,前两个关节为叠加式关节,后两个关节为旋转式关节,具有足够的灵活性和工作空间来满足手术工作的需求。机械臂结构紧凑,各关节均采用了绳索驱动的方式。对机械臂的运动学和工作空间进行了分析,并对机械臂进行了运动轨迹仿真。该机器人基本满足腹腔微创手术的要求,且创口直径仅20mm左右,分析计算进一步验证了该设计方案的合理性和可行性。

A surgery robot with overlap-type joints was designed for the operation of abdominal surgery. The me- chanical arm consists of two rotary joints and two overlap-type joints, which make the robot have enough flexibility and work space to perform surgery. The structure of the mechanical arm is compact, and steel wire is used to deliver power to the joints. Kinematic analysis of the robot is executed, which shows that the robot meets the requirements of abdominal surgery, and the surgical wounded is about 20ram in diameter.