摘要
为了提高腹腔微创手术机器人操作的灵活性，设计并研制了一种新型的腹腔微创手术器械，用于代替医生完成对组织或器官的夹持、缝合和提取等手术操作。应用Pro／E三维建模并导入Recurdyn进行了结构性能的仿真分析，采用D．H法对手术器械以及夹持手术器械的末端执行机械手进行运动学分析，结合手术器械和Force Dimension Omega主手的运动学特点给出了控制规律，并进行了样机实验。实验结果表明所设计的手术器械可以很好地实现四自由度运动，并能够完成腹腔微创手术所需的各种手术操作。
In order to improve the operation flexibility of a celiac minimally invasive surgery robot, a new surgical instrument for minimally invasion surgery is prestented, which is used to do the surgical operations such as gripping, suturing and picking up tissues or organs. The mechanism design of the instrument was based on steel wire transmission, the Pro/E software was used to model the surgical instrument and the model was imported into the Recurdyn software for the instrument＇ s simulation and performance analysis. The kinematics analysis of the surgical instrument and the end effector for holding the surgical instrument was conducted by using the D-H method, and the control scheme was proposed and realized in view of the kinematics characteristics of the surgical instrument and the Force Dimension Omega master. Finally, the performance of the surgical instrument was tested by its prototypic experiments. The experimental results show that the designed surgical instrument can achieve the 4-DOF movement and complete various surgical operations well and meet the demands of the celiac minimally invasive surgery.
出处
《高技术通讯》
CAS
CSCD
北大核心
2011年第10期1062-1067,共6页
Chinese High Technology Letters
基金
863计划（2007AA042248）资助项目.
关键词
微创手术
机器人
手术器械
结构设计
minimally invasive surgery, robot, surgical instrument, mechanism design
