本文選題：微創(chuàng)手術(shù)機(jī)器人 + 緊湊設(shè)計(jì)��； 參考：《天津大學(xué)學(xué)報(bào)(自然科學(xué)與工程技術(shù)版)》2017年11期

【摘要】：緊湊型微創(chuàng)手術(shù)(MIS)機(jī)器人的開(kāi)發(fā)對(duì)微創(chuàng)手術(shù)技術(shù)的推廣具有重要意義.在深入分析造成da Vinci微創(chuàng)機(jī)器人體積龐大的原因的基礎(chǔ)上,開(kāi)發(fā)了一種緊湊型微創(chuàng)手術(shù)機(jī)器人系統(tǒng).通過(guò)添加雙被動(dòng)關(guān)節(jié)的方式實(shí)現(xiàn)了機(jī)器人從操作手的緊湊設(shè)計(jì),并提出了與該從操作手相匹配的運(yùn)動(dòng)支點(diǎn)預(yù)估算法;針對(duì)從操作手的應(yīng)用需求,設(shè)計(jì)出一種具有末端自轉(zhuǎn)功能的新型微創(chuàng)器械,該器械有助于降低機(jī)器人輔助微創(chuàng)手術(shù)的操作難度;結(jié)合器械的構(gòu)型特點(diǎn),設(shè)計(jì)了機(jī)器人主操手,并建立了微創(chuàng)機(jī)器人主從運(yùn)動(dòng)映射模型,解決了傳統(tǒng)微創(chuàng)手術(shù)中存在的眼手運(yùn)動(dòng)不一致問(wèn)題.利用所開(kāi)發(fā)的系統(tǒng)樣機(jī)進(jìn)行了系列驗(yàn)證性實(shí)驗(yàn)以及動(dòng)物實(shí)驗(yàn),充分驗(yàn)證了所提出的微創(chuàng)手術(shù)機(jī)器人設(shè)計(jì)方案的可行性.
[Abstract]:The development of compact minimally invasive surgery (MISS) robot is of great significance to the popularization of minimally invasive surgery technology. A compact minimally invasive surgical robot system is developed on the basis of deep analysis of the reasons for the huge volume of da Vinci minimally invasive robot. The compact design of robot slave manipulator is realized by adding two passive joints, and a motion fulcrum prediction algorithm matching with the slave manipulator is proposed. A new type of minimally invasive instrument with the function of end rotation is designed, which is helpful to reduce the difficulty of robot assisted minimally invasive operation, combining with the configuration characteristics of the instrument, the main manipulator of the robot is designed. The master-slave motion mapping model of minimally invasive robot is established to solve the problem of eye hand movement inconsistency in traditional minimally invasive surgery. A series of confirmatory experiments and animal experiments are carried out using the developed prototype system, which fully verifies the feasibility of the proposed design scheme of minimally invasive surgical robot.
【作者單位】： 天津大學(xué)機(jī)械工程學(xué)院;天津大學(xué)機(jī)構(gòu)理論與裝備設(shè)計(jì)教育部重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家自然科學(xué)基金重大項(xiàng)目(51290293) 國(guó)家國(guó)際科技合作項(xiàng)目(2014DFA70710)~~
【分類號(hào)】：TP242

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本文編號(hào)：1926622