摘要
主从式微创手术(m in im ally invasive surgery,M IS)机器人系统是医学中的微创手术技术和机器人技术相结合的典型产物。在手术中,手术机器人能够辅助医生进行各种手术操作及精确的定位,并且提供稳定的操作平台。通过分析腹腔镜手术中手术器械的典型运动空间和医生手术操作的动作,以及微创手术机器人从手的结构形式和运动,根据从手的操作要求,我们设计了一种适用于腹腔镜手术的主从式机器人系统的主手结构。模拟试验和仿真结果表明所设计的主手结构满足微创手术的要求。
A master-slave robotic system for minimally invasive surgery （MIS） is the combination of MIS technology in medicine with robot technology. During surgery, a surgical robot can assist doctors in doing to do various operations, position precisely and provide a stable operation platform. After analyzing the typical workspace of the MIS and the structure and movement of the slave manipulator of the surgical robot, we designed a master manipulator of the master-slave robot system which is applicable to laparoscopic surgery. The experimental and simulation results show that the master manipulator meets the requirements of MIS.
出处
《机械科学与技术》
CSCD
北大核心
2006年第5期542-544,共3页
Mechanical Science and Technology for Aerospace Engineering
