基于Multibody的穿刺手术机器人设计与仿真

Design and Simulation of a Multibody-based Puncture Surgery Robot

微创穿刺手术是诊断和治疗肿瘤的重要手段。结合穿刺手术核磁兼容性和穿刺定位精度要求,提出一款2R3T并联柔索驱动核磁兼容穿刺定位手术机器人,可提高穿刺精度,缩短手术时间。设计穿刺手术机器人总体结构,完成正逆运动学分析和轨迹规划,借助Multibody构建机器人各模块,建立机器人运动学模型;联合运动学模型与Multibody虚拟样机模型进行仿真。仿真结果表明,运动学模型具有准确性和设计的合理性。Multibody建模仿真过程对机器人运动学和动力学仿真实验教学具有重要意义。

Minimally invasive puncture surgery is an important approach for diagnosing and treating tumors.In response to the requirements of MRI compatibility and puncture precision for puncture surgery,this paper introduces a 2R3T parallel flexible cable-driven MRI-compatible puncture positioning surgical robot,which can enhance puncture precision and reduce surgical time.Firstly,the overall structure design of the puncture surgical robot is performed,along with forward and inverse kinematic analysis and trajectory planning.Subsequently,with the aid of Multibody modeling tools,the modules of the robot are constructed to establish the robot’s kinematic model.Finally,the kinematic model is combined with the Multibody virtual prototype model for simulation,and the simulation results demonstrate the accuracy of the kinematic model and the rationality of the design.The modeling and simulation process using Multibody is of great significance for teaching robot kinematics and dynamics simulations.