6自由度重力平衡式手术显微镜机架运动学及工作空间分析

Kinematics and analysis of work space of 6-DOF gravity-balanced operating microscope frame

针对一种6自由度重力平衡式手术显微镜机架,进行运动学和工作空间分析,首先基于机架的总体结构和初定各个关节转动范围,根据该机架各关节的几何关系,建立D-H参数模型并对其进行正运动学分析,通过Matlab仿真验证了所建正运动学方程的正确性,然后根据机架末端坐标采用几何法求解出各个关节转动角度,最后基于蒙特卡洛法以点云图的形式表示出不同平衡方式的机架和头部小机架的工作空间.结果表明:该6自由度重力平衡式手术显微镜机架具有足够大的手术作业空间,能满足各科显微手术要求,并具有很好的操作灵活性,为今后手术显微镜机架的设计和改进提供重要参考.

This paper proposes a method to study the working space and kinematics of the 6-DOF gravity-balanced operating microscope frame. Firstly, the main components of the mechanical mechanism is introduced and the rotation range of each joint angle is determined. According to the geometrical relation of each joint of the frame, a mathematical model is established and the kinematics analysis carried out. The correctness of the kinematics equation is testified by Matlab simulation. And then, the geometric approach is used to solve the inverse kinematics. Finally, the working space of the different balance of the rack and the head of the small rack are shown by using the Monte Carlo method in the form of point cloud diagram. The results show that the 6-DOF gravity-balanced surgical microscope frame has a large enough operating space to meet the microsurgical require-ments of each subject and has good operational flexibility, and also provides an important reference for the design and improvement of the microscope frame in the future.