摘要
针对目前手术机器人系统中钢丝绳驱动式手术器械末端关节的俯仰、偏摆和开合动作存在运动耦合的问题,本文提出了一种可实现运动解耦的三自由度钢丝绳驱动式手术器械。对常用的钢丝绳驱动式手术器械的末端关节运动耦合现象进行了分析;设计了对称式腕部机构,完成了钢丝绳在末端机构和驱动单元中的平行对称式绕线布局;建立了驱动末端执行器的钢丝绳受迫形变数学模型;最终确定了腕部机构主要参数尺寸,并进行了解耦验证。仿真结果表明:腕关节在0°~±90°内运动时,驱动同一末端执行器的一对钢丝绳的受迫形变量相同且非常小,进而证明本文提出的低耦合度机构与钢丝绳平行对称式绕线布局相结合的方法能够实现末端关节运动解耦,为手术器械高精度运动控制提供帮助。
This paper presents a 3-degree-of-freedom(3-DOF)cable-driven surgical instrument enabling kinematic decoupling to solve the problem of kinematic coupling in the pitching,yawing,opening,and closing movements of end joints of cable-driven surgical instruments in current surgical robot systems.First,the kinematic coupling phenomenon of end joints for a commonly used 3-DOF cable-driven surgical instrument was analyzed.Then,a new wrist with symmetrical mechanism was designed,and the parallel symmetrical winding layout of cables in the end mechanism and driving unit was performed.Next,the compelled deformation of the cable′s driving end effectors was modeled mathematically.Finally,the main parameters of the wrist mechanism were determined and verified.The simulation results show that the compelled deformations of a pair of cables driving the same end effector are the same and very small for the movement range of 0°±90°of the wrist.Additionally,the method proposed in this paper combining the low coupling mechanism and parallel symmetrical winding mode of cables enables the kinematic decoupling of end joints,thus providing assistance for controlling end effectors of surgical instruments with high precision.
作者
闫昱晟
于凌涛
袁华营
夏永强
YAN Yusheng;YU Lingtao;YUAN Huaying;XIA Yongqiang(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2020年第3期455-462,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(61773007)
黑龙江省自然科学基金项目(F2015034).
关键词
手术机器人系统
手术器械
钢丝绳驱动
三自由度
耦合分析
运动解耦设计
受迫形变
平行对称式绕线
surgical robot system
surgical instrument
cable-driven
3-DOF
coupling analysis
kinematic decoupling design
compelled deformation
parallel symmetrical winding