中国医疗设备2025，Vol.40Issue(4)：32-37,6.DOI:10.3969/j.issn.1674-1633.20240231
手持式绳驱动微创手术机器人动力学建模及夹持力估计
Dynamic Modeling and Gripping Force Estimation of Hand-Held Rope-Driven Minimally Invasive Surgical Robots
摘要
Abstract
Objective To model and simulate the dynamics of minimally invasive surgical robot driven by rope,aiming at the problem that it is difficult to obtain the dynamic model when the end instruments of minimally invasive surgical robot enter the human body and transfer the power of the motor by wire rope.Methods The rope-wheel driving system of rope-driven structure of the hand-held minimally invasive surgical robot was analyzed first,and the relationship between the driving wheel torque and the driven wheel torque was obtained.Then,the end-joint structure of the minimally invasive surgical robot was simplified and the dynamic model was built.Aiming at the complete dynamic model of the rope-driven minimally invasive surgical robot,ADAMS was used to simulate the rope-driven minimally invasive surgical robot and test the gripping force.Results The simulation results showed that the theoretical driving torque was basically same as the simulated driving torque.In the gripping force test experiment,the estimated value was compared with the actual measured value,and the maximum error of the model was 0.265 N(1.5%),indicating that this model had obvious advantages in improving the accuracy.Conclusion This model solves the modeling difficulties caused by the special properties of the rope in rope-driven surgical robots,and provides a theoretical basis for the perception of gripping force of the master-slave integrated hand-held surgical robots.关键词
微创外科手术/手持式手术机器人/动力学模型/仿真分析/绳驱动/夹持力估计Key words
minimally invasive surgery/hand-held surgical robot/dynamic model/simulation analysis/rope drive/estimation of gripping force分类
预防医学引用本文复制引用
冯庆敏,陈钰,李帅,胡樱子,刘永志,谢勤岚,刘胜林..手持式绳驱动微创手术机器人动力学建模及夹持力估计[J].中国医疗设备,2025,40(4):32-37,6.基金项目
国家重点研发计划(2022YFC2407306) （2022YFC2407306）
湖北省重点研发计划(2022BCA025). （2022BCA025）
