前列腺针刺机器人的动力学建模与仿真研究

Dynamics modeling and simulation of prostate needle-insertion robot

针对六自由度前列腺针刺机器人动力学问题,以设计加工的一款新型串联前列腺针刺机器人为对象,对前列腺针刺手术机器人的穿刺过程进行了研究。首次采用了RCM调姿和针刺单位作动的定义,在把单位作动等效成挠动的情况下,建立了机器人等效动力学模型;用拉格朗日方法求得了机器人动力学方程,并利用ADAMS和Matlab软件进行了动力学仿真分析与方程验证,得到了针尖点的运动曲线和各关节的动力学特性曲线。研究结果表明:机器人各关节动力学方程解析曲线与仿真曲线相关系数分别对应为0.4、0.75、0.50、0.74和0.74,吻合程度良好;并以此为基础,对机器人的动力元件进行了选型与校核。

Aiming at the dynamics problem of 6-dof prostate needle-insertion robot, a new type of serial prostate needle-insertion robot was designed and processed as the research object, in view of puncture process of prostate needle-insertion surgical robot, the definition of remote center of motion(RCM) posture adjustment and acupuncture unit actuation were adopted simultaneously for the first time. The unit actuation was equivalent into torsion, while the robot equivalent dynamic model was established. The dynamic equation of the robot was obtained by Lagrange method, and the dynamic simulation analysis and equation validation was carried out by ADAMS and Matlab software, and the motion curve of the tip and the dynamic characteristic curve of each joint were obtained. The results indicate that the correlation coefficients between the analytical curve and the simulation curve of the dynamic equation of each joint are 0.4, 0.75, 0.5, 0.74 and 0.74 respectively, which are in good agreement. On this basis, the model selection and verification of the robot’s power components are carried out.