Workspace Analysis and Trajectory Planning of the Main Manipulator for Virtual Laparoscopic Surgery

Jinxing Qu

doi:10.16578/j.issn.1004.2539.2020.09.015

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Workspace Analysis and Trajectory Planning of the Main Manipulator for Virtual Laparoscopic Surgery

Design· Calculation | 更新时间：2022-11-02

- Workspace Analysis and Trajectory Planning of the Main Manipulator for Virtual Laparoscopic Surgery
- Journal of Mechanical Transmission Vol. 44, Issue 9, Pages: 96-100(2020)
- 作者机构：
  
  1.天津电子信息职业技术学院机电技术系，天津 300350
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.09.015
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屈金星.虚拟腹腔镜手术主操作手工作空间分析与轨迹规划[J].机械传动,2020,44(09):96-100.

Qu Jinxing.Workspace Analysis and Trajectory Planning of the Main Manipulator for Virtual Laparoscopic Surgery[J].Journal of Mechanical Transmission,2020,44(09):96-100.
屈金星.虚拟腹腔镜手术主操作手工作空间分析与轨迹规划[J].机械传动,2020,44(09):96-100. DOI： 10.16578/j.issn.1004.2539.2020.09.015.

Qu Jinxing.Workspace Analysis and Trajectory Planning of the Main Manipulator for Virtual Laparoscopic Surgery[J].Journal of Mechanical Transmission,2020,44(09):96-100. DOI： 10.16578/j.issn.1004.2539.2020.09.015.

摘要

作为连接手动操作和虚拟手术场景的桥梁，主操作手可再现多种腹腔镜手术动作，在虚拟手术系统中发挥着重要的作用。根据虚拟腹腔镜手术系统的应用需求，设计研发了一种6自由度被动式串联结构主操作手；通过运动学运算求得主操作手正运动学模型，在Matlab软件中对主操作手进行工作空间、轨迹规划分析；根据三维电磁跟踪系统采集的位置信息，对主操作手的运动学性能进行了定量与定性分析。结果表明，主操作手参数设计合理、运动学模型正确，工作空间分析与轨迹规划仿真结果满足虚拟腹腔镜手术的作业需求，为虚拟腹腔镜手术系统和主操作手的运动控制与术前手术规划奠定了基础。

Abstract

As a bridge between manual operation and virtual surgical scene， the main manipulator can reproduce various laparoscopic surgical actions and plays an important role in the virtual surgical system. A main manipulator with a passive series connection structure is designed to suit the application requirements of the virtual laparoscopic surgery system. The forward kinematics model of main manipulator is obtained through kinematics operation， the main manipulator workspace and trajectory planning analysis is conducted in the Matlab software. Both qualitative and quantitative analysis of the kinematic performance of the main manipulator is carried out based on the location information collected by 3D electromagnetic tracking system. The results show that， the parameter design of the main manipulator is rational， the kinematics model of the main manipulator is correct， and the workspace analysis and the trajectory planning meet the needs of the virtual laparoscopic surgery， which lay the foundation for the virtual laparoscopic surgery system as well as the motion control and pre-operation plan of the main manipulator.

关键词

主操作手虚拟手术运动学工作空间轨迹规划

Keywords

Main manipulatorVirtual surgeryKinematicsWorkspaceTrajectory planning

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