经支气管诊疗机器人设计及其柔性末端执行器位姿研究OA北大核心CSTPCD

Transrespiratory biopsy is a common surgery for diagnosing pulmonary nodules.However,due to the risk of infection of respiratory diseases and joint restrictions during manual operation,the diagnosis and treatment method combined with medical and engineering has gradually become a development trend.In order to realize the flexible movement,precise positioning and stable intervention of the flexible body in the complex bending and dynamic environment of the bronchial lumen,a master-slave collaborative remote control robot mechanism design was adopted to simulate the doctor's operating habits in traditional surgery,and an integrated mechanism principle prototype that could simultaneously control the bronchoscope and biopsy forceps was designed and build,which realized the dual-machine cooperative control for minimally invasive diagnosis and treatment through the bronchus.Then,based on the Cosserat rod theory,the force-position mapping relationship,pose and working space of the flexible end-effector of the robot were simulated and solved by MATLAB software,and the real pose of the flexible end-effector of the robot in the remote minimally invasive biopsy operation through the bronchus was analyzed by experiments,as well as the actual operation effect of the robot,which verified the accuracy of simulation results.The research results can provide a theoretical basis for multi-instrument collaborative control of transnatural duct biopsy.