融合远心运动机构与串联机械臂的穿刺手术机器人系统研究

Research on Puncture Surgery Assisting Robot System Integrating Remote Center of Motion Mechanism and Serial Manipulator

针对现有穿刺手术机器人远程中心运动(RCM)无法兼顾安全性、精准性及空间有效性的问题,提出结合RCM机构和多自由度串联机械臂,研制一款混联式穿刺手术机器人系统。首先,基于双平行四边形机构设计机器人末端RCM执行机构,用于保证穿刺手术过程中远程中心运动的精度与安全性;然后,结合串联机械臂搭建穿刺手术机器人系统以保证较大的工作空间;最后,设计混联式机器人与现有基于主动式RCM约束(ARCMC)的通用串联穿刺手术机器人系统RCM的定位精度对比实验。结果表明,与基于ARCMC的机型相比,所设计穿刺辅助机器人系统的远端中心俯仰运动和翻滚运动位置误差分别降低了52.6%和59.7%,且其工作空间也远高于基于被动式RCM约束(PRCMC)设计的穿刺手术机。由此可以证明所设计的混联式穿刺手术机器人系统在穿刺手术辅助方面的性能更好。

The remote center of motion(RCM)of existing puncture surgery robots does not balance the safety,precision and space effectiveness properly.To address this problem,this paper proposes to develop a hybrid puncture surgery robot system combining the RCM mechanism and the multi-degree-of-freedom serial manipulator.Firstly,an RCM actuator at the end of the robot is designed based on the double parallelogram mechanism to ensure the precision and safety of the remote center of motion during the puncture operation.Then,to ensure a larger working space,a puncture surgery robot system is built by combining the serial manipulator.At the end,a comparative experiment about the RCM positioning precision of the new system to the ARCMC(active remote center of motion constraint)-based system is conducted,and the result shows that the position errors of the new system in RCM pitch motion and roll motion are reduced by 52.6%and 59.7%on average compared with those of the ARCMC-based system.Besides,the proposed hybrid robot system also provides much better working space than the PRCMC(passive remote center of motion constraint)-based robot.It is concluded that the proposed hybrid puncture surgery assisting robot system delivers better performance in puncture surgery assistance.