【摘要】 为提高显微外科手术精度，设计了手持式显微外科手术机器人代替传统手术器械，用于反向补偿人手不自主的颤动。针对现有手持式机器人外形尺寸大，缺乏远运动中心点以及运动范围小等问题，在结构设计和运动学方面展开研究。基于Gough-Stewart构型设计了手持式机器人的整体结构，采用矢量分析法建立基于远运动中心点的逆向运动学模型，采用快速极坐标搜索法对手术器械尖端的工作空间进行仿真分析，搭建实验平台进行运动精度测试。结果表明，所设计手持式机器人能够实现更大的工作空间，并满足显微外科手术的设计要求。更多还原

【Abstract】 In order to improve the precision of microsurgery, a hand-held microsurgery robot was designed to compensate the involuntary tremor of the hand instead of the traditional surgical instruments.Aiming at the problems of large size, lack of far center of motion and small range of motion of the existing hand-held robot, the research on structure design and kinematics was carried out.The overall structure of the hand-held robot was designed based on the Gough-Stewart configuration, and the inverse kinematics model based on the far motion center was established using the vector analysis method.The workspace at the tip of the surgical instrument was simulated and analyzed using the fast polar coordinate search method, and the motion accuracy was tested by building an experimental platform.The results show that the designed hand-held robot can achieve a larger working space and meet the design requirements of microsurgery.更多还原