| 微创外科手术机器人多自由度手指机构设计与研究 |
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| 引用本文： | 于凌涛,赵继亮,张立勋,王道明,杨硕.微创外科手术机器人多自由度手指机构设计与研究[J].机械设计,2010,27(3). |
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| 作者姓名： | 于凌涛 赵继亮 张立勋 王道明 杨硕 |
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| 作者单位： | 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 中国博士后科学基金特别资助项目(200902372);;中国博士后科学基金二等资助项目(20080430889);;哈尔滨工程大学基础研究基金资助项目(002070260748) |
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| 摘 要： | 微创外科手术机器人多自由度手指机构是在满足微创手术要求的前提下,专为外科手术机器人系统研制开发的具有多个自由度的机构。该机构拥有侧摆,俯仰,旋转,夹持4个自由度,采用驱动电机与各个执行关节分离的结构形式,具有夹持灵活性好,质量轻,夹持力大,结构简单等优点,对手指机构的指尖夹持力、关节耦合关系等关键技术进行了研究,为微创外科手术机器人的进一步研制奠定基础。
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| 关 键 词： | 微创外科 手术机器人 多自由度手指 绳驱动 |
Design and research on multi DOF fingered mechanism of minimally invasive surgical robot |
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| YU Ling-tao,ZHAO Ji-liang,ZHANG Li-xun,WANG Dao-ming,YANG Shuo.Design and research on multi DOF fingered mechanism of minimally invasive surgical robot[J].Journal of Machine Design,2010,27(3). |
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| Authors: | YU Ling-tao ZHAO Ji-liang ZHANG Li-xun WANG Dao-ming YANG Shuo |
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| Affiliation: | School of Mechanical and Electrical Engineering/a>;Harbin Engineering University/a>;Harbin 150001/a>;China |
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| Abstract: | With the premise of satisfying the requirements of minimally invasive surgery,the multi DOF fingered mechanism of minimally invasive surgical robot is a mechanism possessing multiple DOF and specially researched and developed for the surgical robotic system.This mechanism possesses 4 DOF of side-sway,pitching,rotation and clamping.It adopted the structural form with the driving motors to be separated from each executive joint,thus possesses the merits of good clamping agility,light massed,big clamping force... |
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| Keywords: | minimally invasive surgery surgery robot multiple DOF finger rope drive |
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