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针对在传统的手术过程中,出血量大、伤口愈合慢、可能存在细菌感染等一系列问题,提出了采用微创机器人外科治愈的方法。文中集成了集成创新的理念,采用双平行四边形机构,讨论了一种新的满足微创约束条件的机构设计方法。该机构设计经过优化设计后,目前已成功运用到我国首台主从式腹腔微创机器人中。该微创机器人机构设计方法在实验测试中,达到了实时性,主从运动,操作力等的功能,具有良好的前景。
Aiming at a series of problems such as large amount of bleeding, slow wound healing and possible bacterial infection in the traditional surgical procedure, a surgical cure method using minimally invasive robots is proposed. The article integrates the concept of integrated innovation, adopts double parallelogram mechanism, and discusses a new mechanism design method to meet the minimally invasive constraints. After the design of this mechanism has been optimized, it has been successfully applied to China’s first master-slave intra-abdominal minimally invasive robot. The minimalist robotic mechanism design method has good prospects in the experimental testing, real-time, master-slave movement, operating force and other functions.