摘要
为了辅助医生更好地完成显微外科手术,开发了一种主从异构的显微外科手术机器人系统———“妙手”系统.“妙手”系统的主手为商业化的Phantom Desktop主手,从手为针对显微外科血管缝合而设计的“妙手”从手.从手包括位置机构和姿态机构.位置机构通过丝传动实现双四连杆机构的运动特性;姿态机构采用三轴交汇于一点的设计思想.通过分析双四连杆机构的运动特性,根据Angeles运动灵活度指标对双四连杆机构进行了优化.结果表明:当双四连杆机构前三级杆等长且I级杆与III级杆垂直时,机构运动灵活度取最大值.
In order to assist the surgeon to accomplish micro-surgery better, we develop a new master-slave isomerous micro-surgery robotic system, i. e. ＂MicroHand＂. The master manipulator is Phantom Desktop, which is a commercial robot with comfortable manipulability. The slave manipulator is developed by our lab, which is designed for the micro-surgery. The alave manipulator includes two parts ： position mechanism and orientation mechanism. The position mechanism can implement kinematic characteristics of double four-bar linkage structure by cable driving, and the orientation mechanism applies the structure of three rotating axes intersecting at one point. Based on the kinematic analysis of the double four-bar linkage mechanism and the kinematic conditioning index, we optimize the double four-bar linkage mechanism. The result indicates that the system has the maximal dexterity when the first three links of the double four-bar linkage mechanism have equal length and linkⅠI is perpendicular to link Ⅲ.
出处
《机器人》
EI
CSCD
北大核心
2006年第2期154-159,共6页
Robot
基金
国家自然科学基金资助项目(50405018)
教育部博士点基金资助项目(20030056030)
天津市科技发展计划重点资助项目(043184211)
