本文選題：微創(chuàng)手術(shù)機(jī)器人 + 主從一體�。� 參考：《天津大學(xué)》2012年碩士論文

【摘要】：本文緊密結(jié)合醫(yī)療機(jī)器人的研究需求,以微創(chuàng)手術(shù)機(jī)器人為研究對象,系統(tǒng)地闡述了一種新型微創(chuàng)外科手術(shù)機(jī)器人的方案設(shè)計(jì)、運(yùn)動學(xué)分析、運(yùn)動學(xué)仿真、關(guān)鍵構(gòu)件強(qiáng)度分析、傳動系統(tǒng)設(shè)計(jì)以及構(gòu)型設(shè)計(jì)等方面的內(nèi)容,所得的研究成果已應(yīng)用于指導(dǎo)一種新型微創(chuàng)外科手術(shù)機(jī)器人的樣機(jī)開發(fā)。 具體包括如下內(nèi)容: 首先,以微創(chuàng)手術(shù)操作的實(shí)際需求為基準(zhǔn),在充分研究已經(jīng)存在的微創(chuàng)手術(shù)機(jī)器人系統(tǒng)結(jié)構(gòu)優(yōu)缺點(diǎn)的基礎(chǔ)上,闡述了一體式微創(chuàng)手術(shù)機(jī)器人的概念和一種新型微創(chuàng)手術(shù)機(jī)器人的設(shè)計(jì)方案,該方案可有效減小機(jī)器人的體積,利于滿足微創(chuàng)手術(shù)機(jī)器人的一體化與便攜性要求,減少手術(shù)環(huán)境對微創(chuàng)手術(shù)機(jī)器人的限制。此外,本文還提出了一種機(jī)器人多自由度被動機(jī)構(gòu)的設(shè)計(jì)方案,該機(jī)構(gòu)可為術(shù)前的機(jī)器人初始位姿調(diào)整提供方便。 其次,本文采用D-H法、矢量法對新型微創(chuàng)手術(shù)機(jī)器人操作手各組成環(huán)節(jié)進(jìn)行了正、逆運(yùn)動學(xué)求解,并在此基礎(chǔ)上對機(jī)器人的工作空間進(jìn)行了分析,建立起機(jī)器人系統(tǒng)的主從映射模型。隨后,通過基于螺旋線的運(yùn)動學(xué)仿真驗(yàn)證了運(yùn)動學(xué)求解的準(zhǔn)確性和機(jī)構(gòu)靈活性。 最后,在機(jī)器人方案設(shè)計(jì)和關(guān)鍵件強(qiáng)度分析的基礎(chǔ)上,開展了該新型微創(chuàng)外科手術(shù)機(jī)器人結(jié)構(gòu)構(gòu)型和傳動系統(tǒng)的設(shè)計(jì)研究工作,并最終通過實(shí)驗(yàn)研究驗(yàn)證了機(jī)構(gòu)的綜合性能。
[Abstract]:In this paper, a new type of minimally invasive surgical robot is discussed, including its scheme design, kinematics analysis, kinematics simulation, and strength analysis of key components.The research results have been applied to guide the prototype development of a new minimally invasive surgical robot.These include the following:First of all, based on the actual requirement of minimally invasive surgery, the advantages and disadvantages of the existing minimally invasive surgical robot system are fully studied.The concept of an integrated minimally invasive surgical robot and the design of a new type of minimally invasive surgical robot are described. This scheme can effectively reduce the volume of the robot and meet the requirements of integration and portability of the minimally invasive surgical robot.Reduce the limitations of the operating environment on minimally invasive surgical robots.In addition, a design scheme of robot multi-degree-of-freedom passive mechanism is proposed, which can provide convenience for the pre-operation adjustment of robot initial position and pose.Secondly, the D-H method and vector method are used to solve the forward and inverse kinematics of the manipulator of the new minimally invasive surgical robot, and the workspace of the robot is analyzed.The master-slave mapping model of robot system is established.Then, the accuracy of kinematics solution and the flexibility of mechanism are verified by the kinematics simulation based on helix.Finally, on the basis of the design of the robot scheme and the strength analysis of the key parts, the structural configuration and transmission system of the new minimally invasive surgical robot are designed and studied. Finally, the comprehensive performance of the mechanism is verified by experimental research.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH777;TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 劉達(dá),王田苗,張玉茹,胡磊,李偉;面向微創(chuàng)手術(shù)的醫(yī)療外科機(jī)器人構(gòu)型綜合[J];機(jī)器人;2003年02期

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本文編號：1758808