摘要
研究基于微创条件约束下具有被动式手腕结构机器人运动学,不但可使医生获取同开放式手术中相同的笛卡尔控制方式,而且为机器人系统控制算法研究及轨迹规划奠定了基础。以自行研制的内窥镜操作机器人为例,结合微创手术特殊的应用环境,对机器人运动学进行研究。考虑人体切口处隔肌厚度和病人呼吸等因素对内窥镜插入点位置的影响,给出内窥镜插入点的确定方法。采用几何及矢量代数方法给出机器人位置正逆运动学解析解公式,采用矢量积法求解机器人速度正运动学,基于微创条件约束给出机器人速度逆运动学。为了验证机器人运动学求解的有效性,对内窥镜插入运动及内窥镜绕插入点旋转运动两种典型运动进行试验,应用试验数据对算法进行分析验证,结果显示了运动学算法的有效性。
Research on kinematics of robot with passive wrists in minimally invasive surgery not only makes surgeons get Cartesian control mode in open surgery, but also lays the foundation for further research on control algorithm and trajectory planning. Taking the laparoscopic robot developed by Harbin Institute of Technology as an example, kinematics of robot is researched under minimally invasive environment. The position of incision point is influenced by diaphragm thickness and breath of patient, so a method of calculating incision position is given, position kinematics is presented by geometry and vector algebra me thod, velocity kinematics is solved through constraint conditions under minimally invasive environment. In order to verify the validity of algorithms, a series of experiments including inserting motion and rotation motion are performed, and the results show the validity of kinematics algorithms.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2009年第3期162-168,共7页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划资助项目(863计划
2007AA04Z248)
