微创手术机器人多从操作臂系统结构设计
Structural Design of Minimally Invasive Surgical Robot Multi-slave Manipulator System
- 机械传动 2021年45卷第7期 页码：103-109
- 作者机构：
1.天津工业大学 机械工程学院， 天津 300387
2.天津工业大学 工程教学实习训练中心， 天津 300387
- 作者简介：
刘芬（1982— ），女，江西武宁人，硕士，讲师，研究方向为智能机器人技术研究。
桑宏强（1978— ），男，河北承德人，博士，教授，主要研究方向为智能机器人技术，机械系统动力学与控制。
- 基金信息：国家自然科学基金面上项目(51975409)
DOI：10.16578/j.issn.1004.2539.2021.07.015
中图分类号：
扫 描 看 全 文
刘芬,韩帅,桑宏强等.微创手术机器人多从操作臂系统结构设计[J].机械传动,2021,45(07):103-109.
Liu Fen,Han Shuai,Sang Hongqiang,et al.Structural Design of Minimally Invasive Surgical Robot Multi-slave Manipulator System[J].Journal of Mechanical Transmission,2021,45(07):103-109.
刘芬,韩帅,桑宏强等.微创手术机器人多从操作臂系统结构设计[J].机械传动,2021,45(07):103-109. DOI： 10.16578/j.issn.1004.2539.2021.07.015.
Liu Fen,Han Shuai,Sang Hongqiang,et al.Structural Design of Minimally Invasive Surgical Robot Multi-slave Manipulator System[J].Journal of Mechanical Transmission,2021,45(07):103-109. DOI： 10.16578/j.issn.1004.2539.2021.07.015.
摘要
为提高微创手术机器人术前定位效率和末端可操作性，设计了一种新型微创手术机器人多从操作臂系统，其包括术前定位机构和远心机构两部分。该系统的基座可以安装3条手术器械臂和1条内窥镜臂。远心机构通过平行四边形机构实现末端不动点，在俯仰、翻滚、平移3自由度的基础上添加冗余自由度，增大了工作空间。为便于医生术前对远心机构高度的调节，在术前定位机构的重力补偿关节处通过恒力弹簧补偿远心机构的重力。在多从操作臂系统结构设计的基础上，对主动部分和被动部分进行了正运动学分析。术前定位机构是对机器人主动部分进行术前定位，手术过程中被动部分各个关节将被锁死。对主动部分进行了逆运动学和工作空间分析，通过将SolidWorks运动仿真的运动轨迹与Matlab运算得到的机器人末端运动轨迹对比，验证了多从操作臂系统结构的合理性和运动学的正确性。
Abstract
To improve the preoperative positioning efficiency and terminal operability of the minimally invasive surgical robot，a new multi-slave manipulator system of minimally invasive surgical robot is designed，which includes the preoperative positioning mechanism and the remote-center mechanism. Three surgical instrument arms and one endoscopic arm can be installed on the base. The fixed point of the end can be realized through the parallelogram mechanism in the remote-center mechanism，and the workspace can be increased by adding redundant DOF on the basis of the pitch，roll，and translation DOFs. To facilitate the doctor to adjust the height of the remote-center mechanism before the operation，the gravity compensation joint of the preoperative positioning mechanism is compensated for the gravity of the remote-center mechanism by the constant force spring. Based on the structural design of the multi-slave manipulator system，the forward kinematic analyses of the active part and the passive part are carried out. Since the preoperative positioning mechanism is used for preoperative positioning on the active part and each joint of the passive part will be locked during the operation，the inverse kinematics and the workspace of the active part are only analyzed. By comparing the motion trajectory simulated by SolidWorks with the motion trajectory of the end of the robot obtained by Matlab，the rationality of the structure of the multi-slave manipulator system and the correctness of the kinematics can be verified.
关键词
多从操作臂系统重力补偿运动学分析工作空间
Keywords
Multi-slave manipulator systemGravity compensationKinematics analysisWorkspace
references
PETERS B S，ARMIJO P R，KRAUSE C，et al.Review of emerging surgical robotic technology［J］.Surgical Endoscopy，2018，32（4）：1636-1655.
VITIELLO V，LEE S，CUNDY T P，et al.Emerging robotic platforms for minimally invasive surgery［J］.IEEE Reviews in Biomedical Engineering，2013，6：111-126.
SANG H，WANG S，LI J，et al.Control design and implementation of a novel master–slave surgery robot system，MicroHand A［J］.The International Journal of Medical Robotics & Computer Assisted Surgery，2011，7（3）：334-347.
NOONAN D P，MYLONAS G P，DARZI A，et al.Gaze contingent articulated robot control for robot assisted minimally invasive surgery［C］//Proceedings of the IEEE/RJS International Conference on Intelligent Robotics and Systems，September 22-26，2008，Nice，France.New York：IEEE，2008：1186-1191.
CRUSCO S，JACKSON T，ADVINCULA A.Comparing the da vinci si single console and dual console in teaching novice surgeons suturing techniques［J］.JSLS：Journal of the Society of Laparoendoscopic Surgeons Society of Laparoendoscopic & Surgeons，2014，18（3）：e2014.00218.
GOMEZ P P，WILLIS R E，VAN S K R.Development of a virtual reality robotic surgical curriculum using the da vinci si surgical system［J］.Surgical Endoscopy，2015，29（8）：2171-2179.
HANNAFORO B，ROSEN J，FRIEDMAN D W，et al.Raven-II：an open platform for surgical robotics research［J］.IEEE Transactions on Biomedical Engineering，2013，60（4）：954-959．
LEWIS A，HANNAFORD B.Dynamically evaluated gravity compensation for the RAVEN surgical robot［C］//Proceedings IEEE International Conference on Robotics and Automation（ICRA），May 31-June 7，2014，Hong Kong，China，2014：2534-2539．
NATHANIEL M，JUSTIN B，ROBIN S，et al.Robotic cholecystectomy：first experience with the new Senhance robotic system［J］.Journal of Robotic Surgery，2019，13（3）：495-500.
王树新，丁杰男，贠今天，等.显微外科手术机器人——“妙手”系统的研究［J］.机器人，2006，28（2）：130-135.
WANG Shuxin，DING Jienan，YUN Jintian，et al.A robotic system for microsurgery：the “MicroHand” system［J］.Robot，2006，28（2）：130-135.
WANG W，LI J，WANG S，et al.System design and animal experiment study of a novel minimally invasive surgical robot［J］.The International Journal of Medical Robotics and Computer Assisted Surgery，2016，12（1）：73-84.
YI B，WANG G，LI J，et al.Domestically produced Chinese minimally invasive surgical robot system “Micro Hand S” is applied to clinical surgery preliminarily in China［J］.Surgical Endoscopy，2017，31（1）：487-493.
谢琦，潘博，付宜利，等.基于腹腔微创手术机器人的主从控制技术研究［J］.机器人，2011，33（1）：53-58.
XIE Qi，PAN Bo，FU Yili，et al.Master-slave control technology research based on abdominal minimally invasive surgery robot［J］.Robot，2011，33（1）：53-58.
潘博，付宜利，冯美，等.腹腔微创手术机器人主从控制技术与实验［J］.机器人，2012，34（6）：646-651.
PAN Bo，FU Yili，FENG Mei，et al.Mater-slave control technology for abdominal minimally invasive surgery robot and its experiments［J］.Robot，2012，34（6）：646-651.
朴明波，付宜利，王树国.外科辅助手术机器人的发展及关键技术分析［J］.机械设计与制造，2008（7）：174-176.
PIAO Mingbo，FU Yili，WANG Shuguo.Development of surgical assistant robots and analysis of key technologies［J］.Machinery Design & Manufacture，2008（7）：174-176.
0
浏览量
4
下载量
0
CSCD
- 网络PDF下载
- Meta-XML下载
- BibTeX下载
- Endnote下载
- RefMan 下载
- NoteExpress下载
- NoteFirst下载
关联资源
相关文章
相关作者
相关机构
- 技术支持由北京北大方正电子有限公司提供 豫ICP备05013835号-5
京公网安备11010802024621 - 本系统建议在Chrome、 IE9+ 以上版本浏览器阅读本站内容，360浏览器请切换至极速模式
- Cookies帮助我们提供服务并提供个性化体验。使用本网站，即表示您同意我们使用Cookies