机器人2013，Vol.35Issue(4)：402-409,8.DOI:10.3724/SP.J.1218.2013.00402
一种新型机器人微创手术微器械的机构设计及运动学分析
Mechanism Design and Kinematics Analysis of a Micro Instrument for Robotic Minimally Invasive Surgery
摘要
Abstract
To meet the requirements of mechanical dimensions,motion flexibility and working space for micro instruments in MIS (minimally invasive surgery),a modular joint driven by steel wires is designed.By studying the motion characteristics and topology method of the modular joint,a designing procedure of micro instrument is presented,in which the degree of freedom of the instrument wrist can be configurated randomly by using the modular joint.To verify the feasibility of the procedure,a separating forceps with four modular joints in its wrist is developed for MIS operations,and a normative kinematics model of the instruments is presented.The test experiments prove that the wrist of the separating forceps has good flexibility,and it can satisfy the clinical requirements for motion range and spatial flexibility for MIS operations.关键词
微创外科手术/手术微器械/机构设计/钢丝驱动Key words
minimally invasive surgery/ surgical micro-instrument/ mechanical design/ steel wire driving分类
信息技术与安全科学引用本文复制引用
马如奇,王伟东,董为,杜志江..一种新型机器人微创手术微器械的机构设计及运动学分析[J].机器人,2013,35(4):402-409,8.基金项目
国家863计划资助项目(2009AA044001). （2009AA044001）
