腹腔微创手术机器人远心机构多目标优化

机器人辅助微创手术需要借助多条远心机构协调工作，为避免在微创手术中多个远心机构发生碰撞，提出含有1个冗余旋转自由度的平行四边形机构，使其在手术过程中保持戳卡切口点不动，调整远心机构姿态避免发生碰撞。为获得综合性能较优的冗余远心机构，提出一种含有4个优化目标函数(运动学、刚度、紧凑性和动力学性能指标)、1个约束条件(质量约束)和3个优化变量(2个连杆长度和关节夹角)的多目标优化模型，应用多目标遗传算法(NSGA-Ⅱ)求解上述问题。

Multi-optimization of Remote Center Motion Mechanism of Minimally Invasive Surgical Robot

Robot assisted MIS requires the coordination of multiple remote center motion mechanism. In order to avoid collisions of multiple remote center motion mechanism in minimally invasive surgery , a parallelogram mechanism with a redundant rotational degree of freedom is proposed to keep the poke incision point in place during the operation and adjust the posture of the remote center motion mechanism to avoid collisions.In order to obtain a redundant remote center motion mechanism with better comprehensive performance , the multi-objective optimization model containing four optimization objective functions ( kinematics , stiffness , compactness , and dynamic performance indicators ), one constraint ( quality constraint ) and three optimization variables ( the length of the two connecting rods and the joint angle ) is proposed. The above problems are solved by using multi-objective non-dominated sorting genetic algorithm ( NSGA Ⅱ )