一种新型微创手术机器人远心定位机构的研究

Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot

具有远程运动中心(Remote motion center,RCM)的手术机器人在微创手术(Minimally invasive surgery,MIS)领域起着至关重要的作用。综合考虑双平行四边形和双同步带RCM机构的优缺点,提出基于单同步带、单平行四边形的新型远心定位机构。基于Adams和SimMechanics分析新型RCM机构末端不动点的精度和运动空间。仿真结果表明,新型RCM机构在满足手术所需运动空间的基础上,具备更高的不动点精度,机构简单紧凑,稳定性较好。

The surgical robots with remote motion center(RCM)play an important role in the field of minimally invasive surgery(MIS).Considering the advantages and disadvantages of double parallelogram and double synchronous belt RCM mechanism,a new RCM mechanism based on single synchronous belt,single parallelogram is proposed.Based on Adams and SimMechanics,the accuracy and workspace of the fixed point at the end of the new RCM mechanism are analyzed.The simulation results show that the new RCM mechanism has higher fixed point accuracy,simple and compact mechanism and good stability on the basis of meeting the motion space required by the operation.