冗余复合构型微创手术机器人定位方法研究

Research on Positioning Method of Minimally Invasive Surgical Robot with Redundant Configuration Type Manipulator Arm

根据冗余复合构型微创手术机器人兼具冗余关节和被动关节的特点,提出了一种针对此类复杂多自由度机器人的定位方法。首先分析了机器人构型特点,然后利用D-H法建立了机器人运动学方程,并结合临床实际,确定冗余关节角,将运动方程进行退化,得到合理的运动学逆解和定位角。利用微型磁定位传感器进行被动关节臂实时位形测定,开发出机械臂定位界面,提示操作者进行定位和臂形设置。实验结果表明,定位方法可行,可视化效果好,适于临床操作。

According to the characteristics of redundant joint and passive joint, a kind of positioning method of minimally invasive surgical robot with manipulator arm in redundant configuration type is proposed. Firstly, according to the configuration characteristic of robot, the D- H kinematics equation of the robot is established, and then combined with clinical practice the redundant joint angle is determined; Finally, with the motion equation of degradation, the reasonable inverse kinematics solution and the orientation angle areobtained. Using micro magnetic positioning sensors to measure the real-time position of passive joint arm, the robot arm is developed to locate. The experimental results show that the positioning method is feasible, and the visualization effect is favorable.