摘要
手术杆末端的可达工作空间直接影响到手术区域的规划。基于正运动学分析,得到手术杆末端位置与各关节变量的函数关系,运用蒙特卡罗法求解末端位置集合,并在Matlab中绘制工作空间云点图;采用二维曲线生成曲面的方法分析工作空间边界,利用重积分原理求解其体积;最后运用几何代数相结合的方法对工作空间进行了仿真。为该机器人进行实际的微创手术奠定了基础。
Reachable workspace of the surgical rod＇s end directly affects the operative region planning.Based on the forward kinematics analysis,the function relationship between the position of surgical rod＇s end and all joint variables was obtained,and the concourse of the positions was solved by adopting Monte Carlo method,plotting point cloud of workspace in Matlab software.Then,the boundary of workspace was analyzed by the method of using 2D curve to create curved surface and the volume of workspace solved with the principle of multi integral.Finally the simulation about workspace is carried out by using the method of combining geometry and algebra,laying a foundation for robot to actually carry out minimally invasive surgery.
出处
《机械设计》
CSCD
北大核心
2010年第10期70-72,共3页
Journal of Machine Design
基金
四川省科技支撑计划资助项目(07GG008-026)
