摘要
提出一种新型的平面远程运动中心(RCM)机构用于微创外科手术(MIS)中,在保证原手术切入点所需4个自由度的基础上,通过机构设计提供其中摆动和执行器直线运动这两个重要的自由度。分析了新机构的运动学、奇异性、最优构型以及工作空间等问题,证明了该机构的工作空间完全能够满足MIS所需空间,能够提升微创外科手术器械的性能。
In this paper,a new kind of plane remote movement center（RCM）used in minimally invasive surgery（MIS）is put forward.For guaranteeing the entry point with four degrees of freedom,a new type of planar mechanism is designed to provide the patch and translation,which is the two important degrees of freedom.The kinematics,singularity,optimal configuration and working space of the mechanism are analyzed,it is concluded that the agency′s work space can fully satisfy the space needed for MIS,proves that it can improve the performance of the minimally invasive surgical instruments.
作者
梁闯
LIANG Chuang(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110370,China)
出处
《机械工程与自动化》
2018年第5期128-130,共3页
Mechanical Engineering & Automation
