一种主从操作的连续体机器人

A Continuous Robot with Master-slave Operation

本文展示了一个主从操作的连续体机器人(CR:Continuum Robot)系统的开发。此系统主要包括主手部分和CR从手部分。主手是具有六个自由度的串联式结构;从手的CR具有五个自由度,包括三个空间位置自由度、一个旋转自由度和一个夹钳开合自由度。着重阐述了主手的设计、从手端CR模块的设计和CR运动学算法的开发,并进行了主从控制的初期实验验证。通过这些功能的实现,该主从操作的柔性机器人将来可以成为经自然腔道手术(NOTES:Natural Orifice Transluminal EndoscopicSurgery)的重要工具。

This paper demonstrated the development of a teleoperated Continuum Robot(CR) system. The system mainly consists of two parts: The master manipulator, and the slave manipulator(CR). The master manipulator is an articulated structure with 6 degrees of freedom(DOF), while the slave manipulator(CR) consists of 5-DOF, that is, 3 translational DOF, 1 rotational DOF, and 1 DOF for controlling open/close of forceps. The deign of master manipulator, slave manipulator(CR), and development of CR kinematics were illustrated in this paper. In the end, the master-slave control was validated by preliminary experiments. Through above work, the teleoperated CR can play a significant role in Natural Orifice Transluminal Endoscopic Surgery(NOTES) in the future.