腹腔微创手术器械的设计与运动学分析

Design and Kinematics Analysis of Minimally Invasive Surgical Instruments for Abdominal Cavities

为了提高微创手术器械的灵活性和满足工作空间的要求,设计了一款由钢丝绳驱动的微创手术器械.首先,基于D-H参数法和几何分析法对手术器械的末端执行器建立数学模型,进行正运动学和逆运动学分析,然后采用蒙特卡洛法分析其工作空间.最后进行了样机的弯曲测试实验,实验表明末端执行器的腕部关节具有良好的灵活性,能满足腹腔微创手术对于手术器械的灵活性的要求.

In order to improve the flexibility of minimally invasive surgical instruments and meet their requirements for working space,a minimally invasive surgical instrument driven by a wire rope was designed.The opening and closing of the split pliers had 4 degrees of freedom.Based on the D-H parameter method and the geometric analysis method,a mathematical model of the end effector of the surgical instrument was established,the forward kinematics and inverse kinematics were analyzed,and the Monte Carlo method was used to analyze the working space.Finally,a bending test experiment of the prototype was carried out.Experiments show that the wrist joint of the end effector has good flexibility and can meet the requirement of minimally invasive surgery for the flexibility of surgical instruments.