【摘要】 为提高微创手术机器人术前定位效率和末端可操作性,设计了一种新型微创手术机器人多从操作臂系统,其包括术前定位机构和远心机构两部分。该系统的基座可以安装3条手术器械臂和1条内窥镜臂。远心机构通过平行四边形机构实现末端不动点,在俯仰、翻滚、平移3自由度的基础上添加冗余自由度,增大了工作空间。为便于医生术前对远心机构高度的调节,在术前定位机构的重力补偿关节处通过恒力弹簧补偿远心机构的重力。在多从操作臂系统结构设计的基础上,对主动部分和被动部分进行了正运动学分析。术前定位机构是对机器人主动部分进行术前定位,手术过程中被动部分各个关节将被锁死。对主动部分进行了逆运动学和工作空间分析,通过将SolidWorks运动仿真的运动轨迹与Matlab运算得到的机器人末端运动轨迹对比,验证了多从操作臂系统结构的合理性和运动学的正确性。更多还原

【Abstract】 To improve the preoperative positioning efficiency and terminal operability of the minimally invasive surgical robot,a new multi-slave manipulator system of minimally invasive surgical robot is designed,which includes the preoperative positioning mechanism and the remote-center mechanism.Three surgical instrument arms and one endoscopic arm can be installed on the base.The fixed point of the end can be realized through the parallelogram mechanism in the remote-center mechanism,and the workspace can be increased by adding redundant DOF on the basis of the pitch,roll,and translation DOFs.To facilitate the doctor to adjust the height of the remote-center mechanism before the operation,the gravity compensation joint of the preoperative positioning mechanism is compensated for the gravity of the remote-center mechanism by the constant force spring.Based on the structural design of the multi-slave manipulator system,the forward kinematic analyses of the active part and the passive part are carried out.Since the preoperative positioning mechanism is used for preoperative positioning on the active part and each joint of the passive part will be locked during the operation,the inverse kinematics and the workspace of the active part are only analyzed.By comparing the motion trajectory simulated by SolidWorks with the motion trajectory of the end of the robot obtained by Matlab,the rationality of the structure of the multi-slave manipulator system and the correctness of the kinematics can be verified.更多还原