数据手套控制的微创手术机械臂抓钳系统设计

Design of Grasping Forceps System of Minimally Invasive Surgical Robotic Arm Controlled by Data Gloves

设计了一种实时控制腹腔镜手术机械臂的数据手套。利用惯性测量单元和摇杆电位器采集手部姿态信息,基于逆运动学法建立人手到手术机械臂关节的映射关系,控制手术机械臂抓钳的动作,实现常规手术操作。实验结果表明,该系统操作简单、实时性好,响应时间530 ms,对数据手套控制手术机械臂的研发具有参考价值。

This project designs a data glove for real-time control of a robotic arm for the laparoscopic surgical manipulator.The inertial measurement unit and rocker potentiometer are used to collect hand posture information.Based on the inverse kinematics method,the mapping relationship between the human hands and surgical robotic arm joints was established to control the action of surgical robotic arm grasping forceps and realize routine surgical operations.The experimental results show that the system is easy to operate,has good real-time performance(mean response time is 530 ms),which has reference value for the research and development of data glove-controlled surgical robotic arms.