面向灵活工作空间的血管外科手术机器人设计

在分析医生显微缝合与打结动作和操作空间布置的基础上，采用向两个方向投影的方法，对医生的动作进行了记录和量化分析．分析了测量数据与机器人灵活度的关系，并以该关系作为整个设计分析的基础．根据投影几何以及显微手术数据得到了从手末端工具准确的三维灵活操作空间．根据测量得到的灵活空间运用逆运动学原理，对机器人的机构参数和关节的运动范围进行了计算．在理论分析和设计的基础之上，加工出了一台显微手术样机(MicroHand)．

Dexterous-workspace-oriented Design of Robotic Manipulators for Microsurgery

After analyzing the suturing and knot tying operation of surgeons and the assignment of operation space, the motions of an expert surgeon are recorded in two projective views and analyzed quantitatively. The relationship between the measured data and robot dexterity is analyzed, which is taken as the basis for designing the manipulators. The accurate 3D dexterous operation space of the slave end-effector is obtained based on the projective geometry and micro-surgical operation data. According to the collected data of dexterous workspace, the manipulator parameters and movement ranges of the joints are computed using inverse kinematics principle. A new prototype robotic manipulator (MicroHand) for microsurgery has been produced based on theoretical analysis and design.