本文選題：微創(chuàng)手術(shù) + 并聯(lián)機構(gòu)��； 參考：《上海工程技術(shù)大學(xué)》2015年碩士論文

【摘要】：微創(chuàng)外科是臨床醫(yī)學(xué)界的前沿發(fā)展方向,微創(chuàng)外科手術(shù)具有手術(shù)創(chuàng)傷小、疼痛輕、恢復(fù)快等特點,在越來越多的傳統(tǒng)手術(shù)領(lǐng)域獲得了革命性的成功,逐漸成為全球外科手術(shù)發(fā)展的主旋律。微創(chuàng)手術(shù)器械的機械結(jié)構(gòu)、傳動方式等方面的合理設(shè)計,將直接影響其靈活性、操作性、控制精確性等性能乃至手術(shù)效果。由于微創(chuàng)手術(shù)工作空間較小,而傳統(tǒng)微創(chuàng)手術(shù)器械靈活性差,因此,為提高微創(chuàng)手術(shù)器械靈活性和操作柔性,彌補手術(shù)切口造成器械自由度的損失,本文根據(jù)腹腔手術(shù)及微創(chuàng)手術(shù)器械結(jié)構(gòu)特點,設(shè)計一種繩牽引多自由度手持式微創(chuàng)手術(shù)器械。研究內(nèi)容主要包括以下幾個方面:(1)通過對微創(chuàng)手術(shù)過程、傳統(tǒng)微創(chuàng)手術(shù)器械、手術(shù)操作力以及手術(shù)器械操作環(huán)境進行詳細分析,確定新型多自由度手術(shù)器械的期望要求;根據(jù)器械所需完成目標任務(wù)映射其設(shè)計要求,得出手術(shù)器械最小自由度數(shù)為4;提出基于組合并聯(lián)機構(gòu)單元實現(xiàn)腕部關(guān)節(jié)俯仰、偏轉(zhuǎn)運動方案,并采用鋼絲繩、柔性桿以及軟軸組合傳動方式,設(shè)計4自由度手持式微創(chuàng)手術(shù)器械。(2)利用方位特征集理論對腕部關(guān)節(jié)組合并聯(lián)機構(gòu)單元進行機構(gòu)綜合,確定4SPS-1U為并聯(lián)機構(gòu)單元構(gòu)型;基于手術(shù)器械尺寸設(shè)計要求以及并聯(lián)機構(gòu)單元結(jié)構(gòu),確定并聯(lián)機構(gòu)單元合理尺度參數(shù),并分析并聯(lián)機構(gòu)單元轉(zhuǎn)動角度和轉(zhuǎn)動半徑的范圍;根據(jù)腕部關(guān)節(jié)所需實現(xiàn)工作空間范圍,為腕部關(guān)節(jié)配置不同數(shù)目的并聯(lián)機構(gòu)單元。(3)基于尺度相容性條件,運用D-H矩陣構(gòu)建4SPS-1U并聯(lián)機構(gòu)運動學(xué)方程,以牛頓迭代法求解位置正解;通過對運動學(xué)方程求導(dǎo),獲得速度、加速度雅克比矩陣,并建立速度、加速度運動學(xué)方程;利用ADAMS軟件對該并聯(lián)機構(gòu)單元運動學(xué)和動力學(xué)進行仿真分析,求解并聯(lián)機構(gòu)單元動力學(xué);構(gòu)建末端腕部關(guān)節(jié)實驗?zāi)Ｐ瓦M行實驗分析,以驗證末端腕部關(guān)節(jié)機構(gòu)設(shè)計的合理性以及鋼絲繩牽引力的正確性。(4)針對鋼絲繩傳動進行受力分析,建立鋼絲繩受力平衡方程,并對鋼絲繩拉伸及彎曲狀態(tài)進行應(yīng)力分析,得出傳動過程中鋼絲繩危險點分布情況;利用Solid Works Simulation進行有限元仿真分析,求得鋼絲繩傳動過程中最大應(yīng)力,并將有限元仿真結(jié)果與數(shù)學(xué)模型計算結(jié)果進行對比,以驗證鋼絲繩受力模型的正確性;通過對傳動過程中鋼絲繩摩擦磨損以及疲勞壽命進行分析,得出所選用鋼絲繩對手術(shù)器械使用壽命影響極小。本文所設(shè)計的4自由度手持式微創(chuàng)手術(shù)器械,為進一步研制高性能微創(chuàng)手術(shù)器械提供理論基礎(chǔ)。
[Abstract]:Minimally invasive surgery is the frontier development direction of clinical medicine. Minimally invasive surgery has the characteristics of less trauma, less pain and faster recovery. It has achieved revolutionary success in more and more traditional surgical fields. Gradually become the main theme of the development of surgery around the world. The reasonable design of the mechanical structure and transmission mode of minimally invasive surgical instruments will directly affect its flexibility, maneuverability, control accuracy and even surgical effect. In order to improve the flexibility and operation flexibility of minimally invasive surgical instruments and make up for the loss of the degree of freedom caused by the surgical incision, the minimally invasive operation space is small and the traditional minimally invasive surgical instruments are less flexible. According to the structure characteristics of celiac surgery and minimally invasive surgical instruments, a multi-freedom hand-held minimally invasive surgical instrument with rope traction was designed in this paper. The main contents of this study are as follows: (1) by analyzing the process of minimally invasive surgery, the traditional minimally invasive instruments, the operating force and the operating environment of the surgical instruments in detail, the expectation requirements of the new type of multi-degree-of-freedom surgical instruments are determined. According to the design requirements of the target task mapping, the minimum degree of freedom of the surgical instrument is 4, and the scheme of wrist joint pitch and deflection based on the combined parallel mechanism unit is proposed, and the wire rope is used. Flexible rod and flexible shaft combination drive mode, design 4 degrees of freedom hand-held minimally invasive surgical instrument. 2) utilize azimuth characteristic set theory to synthesize the mechanism of wrist joint combined parallel mechanism, and determine 4SPS-1U as the configuration of parallel mechanism unit. Based on the size design requirements of surgical instruments and the unit structure of parallel mechanism, the reasonable scale parameters of parallel mechanism unit are determined, and the range of rotation angle and radius of parallel mechanism unit is analyzed, and the workspace range of wrist joint is realized according to the need of wrist joint. Based on the criterion of scale compatibility, the kinematics equation of 4SPS-1U parallel mechanism is constructed by using D-H matrix, and the position positive solution is solved by Newton iteration method, and the velocity is obtained by derivation of kinematics equation. The acceleration Jacobian matrix and the velocity and acceleration kinematics equations are established, and the kinematics and dynamics of the parallel mechanism are simulated and analyzed by ADAMS software to solve the dynamics of the parallel mechanism. In order to verify the rationality of the design of the end wrist joint mechanism and the correctness of the wire rope traction force, the experimental model of the end wrist joint is constructed to analyze the force on the wire rope transmission, and to establish the balance equation of the wire rope force. The distribution of the dangerous point in the transmission process is obtained by the stress analysis of the tension and bending state of the wire rope, and the maximum stress in the transmission process is obtained by the finite element simulation analysis with Solid Works Simulation. The finite element simulation results are compared with the results of mathematical model to verify the correctness of the steel wire rope force model, the friction and wear of the wire rope and the fatigue life of the wire rope during transmission are analyzed. It is concluded that the selection of wire rope has minimal influence on the service life of surgical instruments. The 4-DOF hand-held minimally invasive surgical instrument designed in this paper provides a theoretical basis for the further development of high-performance minimally invasive surgical instruments.
【學(xué)位授予單位】：上海工程技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R608;TH112

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本文編號：1918856