机械科学与技术2017，Vol.36Issue(11)：1658-1665,8.DOI:10.13433/j.cnki.1003-8728.2017.1104
胸腹部微创手术机器人设计和运动精度分析
Design of Thoracoabdominal Minimally Invasive Robot and Kinematic Analysis
摘要
Abstract
This paper presents a novel CT-guided puncture robotic system with 7 degrees of freedom (DOF),which can improve the accuracy of the brachytherapy for thoracoabdominal cancer.According to the design requirements,the space constraints and CT compatibility of the drive mode was solved with remote tendon-sheath transmission,and a new structure of the robot was developed.Using kinematical analysis,the structure parameters of the robot were optimized according to the space dimension.Dynamics model for robot was established to acquire the relationship between the joint force/torque and the motion parameters of the joint based on the Lagrangian equation.Finally,the experiment of positioning error correction was made to improve the positioning accuracy of the robot.And the measurement experiment of robot puncture accuracy was completed,in which the error is 1.09 mm.It proved the robot system can meet the requirements of surgical accuracy.关键词
穿刺机器人/运动学分析/动力学分析/定位误差修正/穿刺精度测量Key words
puncture robot/kinematic analysis/dynamics analysis/positioning error correction/measurement of puncture accuracy分类
信息技术与安全科学引用本文复制引用
原伟,姜杉,杨云鹏,王伟..胸腹部微创手术机器人设计和运动精度分析[J].机械科学与技术,2017,36(11):1658-1665,8.基金项目
国家自然科学基金项目(51175373)与天津市重大科技专项项目(14ZCDZGX00490)资助 （51175373）
