新型微创手术机器人Stewart位姿平台工作空间分析

Workspace Analysis of Stewart Pose Platform of New Minimally Invasive Surgery Robot

随着自然腔道内镜手术（NOTES）技术逐渐成熟,对手术器械的要求也越来越高。目前影响NOTES技术推广的主要因素是通道过小,没有良好的操作三角,使其工作空间性能受限,以及术者使用器械过程中的主观不适感。因此,工作空间和人机界面在NOTES器械的研究中受到广泛重视。Stewart平台通过自身位姿的调整,能够广泛的运用到新的手术机器人中,用于实现调整手术末端装置的位置空间大小。本文基于1种新型NOTES手术机器人的工作原理,着重对手术机器人中的Stewart平台进行结构上的分析,并基于其运动反解和Stewart平台结构设计参数,结合利用搜索法和二分法的算法来计算工作空间,为新型手术机器人整体工作空间运动分析提供基础,并推进其在NOTES中的应用。

As natural orifice transluminal endoscopic surgery（ NOTES） technology matures,the requirements for surgical instruments are also increasing. The main factors affecting the promotion of NOTES technology at present are the channel is too small,there is no good operating triangle,the limited performance of their work space,and the surgeon＇s subjective discomfort during the use of equipment. Therefore,the work space and the man-machine interface are widely studied in the research of NOTES instruments. Stewart platform through its position adjustment,can be widely used in new surgical robots,used to achieve the adjustment of the location of the terminal device space. Based on the working principle of a new type of NOTES robot,this paper focuses on the structural analysis of the Stewart platform in surgical robots. Based on the inverse kinematics and the structural design parameters of the Stewart platform,we combine the algorithm of searching and dichotomy The work space provides the basis for the motion analysis of the new surgical robot in the overall work space and promotes its application in NOTES.