工程设计学报2023，Vol.30Issue(6)：657-666,10.DOI:10.3785/j.issn.1006-754X.2023.03.131
新型线驱动式微创手术器械结构设计与运动学分析
Structural design and kinematics analysis of new cable-driven minimally invasive surgical instrument
摘要
Abstract
In the minimally invasive surgical robot system,there is a kinematic coupling between the yaw joint and the rotating joint of the gripper for the traditional cable-driven surgical instrument,which has an adverse effect on the kinematic accuracy of the surgical instrument.For this reason,a new four-degree-of-freedom cable-driven surgical instrument was proposed.The yaw joint adopted a planetary gear structure,which could achieve kinematic decoupling between the yaw joint and the gripper.Firstly,the kinematic coupling problem of joints in the traditional cable-driven surgical instrument was analyzed.Then,a jaw joint of planetary gear rotation was designed,and the geometric analysis proved that it had very low joint coupling and the forced deformation of the steel cable was very small during the motion.At the same time,the forward kinematics model of the new surgical instrument was constructed by using the standard D-H parameter method,and the closed-form solution of its inverse kinematics was obtained by the analytical method.Finally,the accuracy of the forward and inverse kinematics models was verified by using the Robotics Toolbox and the simulation model built in the Simulink environment of MATLAB software,and the workspace of the surgical instrument was analyzed by using the Monte Carlo method.The simulation results showed that the structure design of the proposed surgical instrument was reliable,the kinematic coupling between the joints was low,and its workspace could meet the requirements of minimally invasive surgery.The research results can provide reference for the structural design and kinematics analysis of flexible cable-driven surgical instruments.关键词
微创手术机器人/线驱动/手术器械/运动学/运动解耦/Simulink仿真Key words
minimally invasive surgical robot/cable-driven/surgical instrument/kinematics/kinematic decoupling/Simulink simulation分类
信息技术与安全科学引用本文复制引用
赵万博,陈赛旋,姜官武,李荣,章宇..新型线驱动式微创手术器械结构设计与运动学分析[J].工程设计学报,2023,30(6):657-666,10.基金项目
国家自然科学基金青年基金资助项目(52005316) （52005316）
江苏省重点研发计划项目(BE2020082-3,BE2020082-4) （BE2020082-3,BE2020082-4）
特殊环境机器人技术四川省重点实验室开放基金资助项目(22kftk04) （22kftk04）
