内窥镜操作机器人灵活性分析及仿真验证

在微创手术中为了使内窥镜的姿态满足外科手术的需求,借助于服务球、服务点、服务区的概念给出机器人灵活度空间的分布.根据七自由度内窥镜操作机器人结构特点,采用位姿分解方式求得位置运动学解析逆解.针对微创胸腹腔手术的临床需求,分析了该机器人的灵活性,提出了内窥镜操作机器人灵活度空间分布的分析方法,并通过数值方法对工作空间内任意点仿真得到机器人灵活度的空间分布.对机器人逆解和灵活度分布进行仿真验证,证明该方法的正确性,表明内窥镜操作机器人的灵活度满足实际的手术需求.掌握运动学和灵活度空间分布,为后续机器人控制方法的实现和术前的路径规划提供了必要的理论依据.

Analysis and validation on dexterity of laparoscopic robot

In order to make gestures of a laparoscopic robot satisfied to the surgical procedure in minimally invasive surgery, the dexterity distribution of the robot was studied on the concept of service sphere, service point and service region. According to the structural feature of the laparoscopic robot with seven DOFs, an analytic solution was obtained by the method of position joints detaching to gesture joints. The dexterity of the robot was studied for the requirement of minimally invasive surgery, therefore, the task dexterity distribution was obtained by the numeric method in workspace. In order to demonstrate the robot suitability to develop the task it has been designed for, the calculation of inverse kinematics and distribution of task dexterity were validated. Finally, the simulation based on the task dexterity distribution was carried out. The control algorithm and path planning can be realized on the basis of kinematics and dexterity analysis.