冗余复合构型微创手术机器人定位方法研究

根据冗余复合构型微创手术机器人兼具冗余关节和被动关节的特点,提出了一种针对此类复杂多自由度机器人的定位方法。首先分析了机器人构型特点,然后利用D-H法建立了机器人运动学方程,并结合临床实际,确定冗余关节角,将运动方程进行退化,得到合理的运动学逆解和定位角。利用微型磁定位传感器进行被动关节臂实时位形测定,开发出机械臂定位界面,提示操作者进行定位和臂形设置。实验结果表明,定位方法可行,可视化效果好,适于临床操作。

Research on Positioning Method of Minimally Invasive Surgical Robot with Redundant Configuration Type Manipulator Arm

According to the characteristics of redundant joint and passive joint , a kind of positioning method of minimally invasive surgical robot with manipulator arm in redundant con-figuration type is proposed .Firstly ,according to the configuration characteristic of robot ,the D-H kinematics equation of the robot is established ,and then combined with clinical practice the re-dundant joint angle is determined ;Finally , with the motion equation of degradation , the reasonable inverse kinematics solution and the orientation angle areobtained . Using micro magnetic positioning sensors to measure the real-time position of passive joint arm ,the robot arm is developed to locate .The experimental results show that the positioning method is feasible ,and the visualization effect is favorable .