【摘要】 为提高血管介入手术的成功率和安全性,研制一种用于控制自主导管的由多个形状记忆合金(Shape memory alloy,SMA)驱动器驱动的多节蛇形结构导向机器人。针对SMA驱动的导向机器人结构和原理,提出偏置弹簧尺寸参数的估算方法,使用大挠度理论对导向机器人进行运动学分析,通过积分变换推导出SMA驱动器在已知导向机器人弯曲角度和方向下的输出力和位移,给出精确的导向机器人前端中心位置坐标。在此基础上,进一步推导SMA驱动器的尺寸参数设计计算公式,提出一套系统的导向机器人设计理论方法。利用提出设计方法研制导管导向机器人样机,并在血管模型中成功地进行模拟介入手术试验。研究成果为导向机器人的设计和分析提供了数学模型,完善了导管导向机器人的设计方法和理论。更多还原

【Abstract】 In order to make the invasive surgery more successful and more safe,a guiding robot is developed to control the active catheter in the invasive surgery.It moves in the manner of a snake utilizing a multi-joint mechanism driven by several shape memory alloy (SMA) actuators.In view of the mechanism and principle of the guiding robot driven by SMA actuators,a method to estimate the measure parameters of the bias spring is presented.At the same time,the kinematics analysis of the guiding robot is also accomplished by using the large deflection theory.Precondition of the known bending angle and orientation of the guiding robot,the SMA actuators’ displacement and output force are deduced via integral transform and the accurate coordinates of the center in the guiding robot’s front are gotten.Furthermore,the expressions for the calculation on the dimension parameters of the SMA actuators are deduced together with an integrated design theory for the guiding robot.A guiding robot prototype is designed by using the theory presented.With the help of a vascular model,the guiding robot-based invasive surgery is simulated.The research results provide integrated mathematic model for the design and analysis of the guiding robot and also perfect the design method and theory.更多还原