腹腔微创机器人远心定位机构优化设计

Optimization and Design of Remote Centre Motion Mechanism for Celiac Minimally Invasive Surgery

提出一种新型的三角形远心定位机构用于腹腔微创手术,该机构简单,刚度高.为得到综合性能较优的三角形远心定位机构,提出了一种新型的多目标优化模型,该模型中包含4个优化目标函数:全局运动学性能指标、机构紧凑性指标、全局刚度综合性能指标和全局动力学性能指标;3个约束条件:工作空间约束、机构参数约束和质量约束;2个设计变量:2个关节之间夹角.应用非支配遗传算法求解多目标优化问题.根据优化结果建立了三角形远心定位机构实物模型.实验验证了该三角形远心定位机构的有效性.

A novel triangle-type remote centre motion（RCM） mechanism is proposed to be applied to minimally invasive surgery due to its simple structure and high stiffness. In order to obtain outstanding performance, a new multi-objective optimization model is presented, which consists of four objectives： a global kinematic index, a mechanical compactness index,a global comprehensive stiffness index, and a global dynamic index; three constraints： workspace, mechanical parameters,and mass; two design variables： two angles between two adjacent joints. The non-dominated sorting genetic algorithm-II（NSGA-II） is adopted to solve multi-objective optimization problems. The prototype of the triangle-type RCM mechanism is set up based on the optimization results. The effectiveness of the triangle-type RCM mechanism is validated by an experiment.