微创手术机器人远程运动中心机构的设计和实现

在对微创手术的作业要求及运动自由度等参数分析的基础上,提出了一种新型的RCM机构方案并对其进行详细的机械结构设计;运用D-H法进行机械臂的正运动学求解,并以此绘制机械臂的工作空间;基于对微创手术过程的分析,利用三维软件UG对远程运动中心机构典型运动过程进行了虚拟仿真,并用有限元分析软件ANSYS对重要部件进行强度分析。实验结果表明,所设计的远程运动中心机构能够较好地完成手术规划,满足微创手术要求。

Design and Implementation of an Minimally Invasive Surgery Robot RCM Mechanism

Based on the clinical requirement and motion freedom of minimally invasive surgery ,a new type of remote center of motion mechanism is presented and its detailed mechanical structure is designed .Secondly ,the forward kinematics is solved by D‐H notation to establish the working space of the manipulator .Thirdly ,in view of the minimally invasive surgery process ,UG is utilized to simulate the typical motions of the remote center of motion mechanism and ANSYS is used to analyze the intensity of the important part .Finally ,the performance of the remote center of motion mechanism is tested with experiments .Experiments show that the designed remote center of motion mechanism accomplishes surgical programming successfully and meets the re‐quirements of minimally invasive surgery .