【摘要】 主要研究一种多自由度手术辅助机器人系统,并重点阐述了一个新型的多自由度关节型机器人示教方式,即操纵杆控制系统。该控制系统可以完全控制机器人末端执行器的空间位置和姿态,方便医生进行更直接、安全的操纵。通过试验验证,操纵杆控制系统适合作为手术辅助机器人的"手把手"示教装置。更多还原

【Abstract】 This paper mainly studies a multi-DOF surgical robot-assisted system,and focuses on a new type of teaching method for multi-DOF articulated robot,namely joystick control system.The system can control the spatial position and posture of robotic end-actuator and provide a more direct and secure control for doctors.Experiments verified that the joystick control system is suitable for a "hands-on" teaching device of surgical robot.更多还原