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针对腹腔微创手术,设计了一种包含叠加式关节的腹腔手术机器人。手术机械臂共有四个关节,前两个关节为叠加式关节,后两个关节为旋转式关节,具有足够的灵活性和工作空间来满足手术工作的需求。机械臂结构紧凑,各关节均采用了绳索驱动的方式。对机械臂的运动学和工作空间进行了分析,并对机械臂进行了运动轨迹仿真。该机器人基本满足腹腔微创手术的要求,且创口直径仅20mm左右,分析计算进一步验证了该设计方案的合理性和可行性。
For peritoneal minimally invasive surgery, an intraperitoneal robot with superimposed joints was designed. There are four joints in the manipulator. The first two joints are superimposed joints. The latter two joints are rotary joints, which have enough flexibility and working space to meet the needs of surgical work. Robotic arm is compact and all joints are rope-driven. The kinematics and work space of the manipulator are analyzed, and the trajectory simulation of the manipulator is carried out. The robot basically meets the requirements of minimally invasive abdominal surgery, and the wound diameter is only about 20mm. The analysis and calculation further verify the rationality and feasibility of the design.