一体式微创外科手术机器人机构设计及研究

发布时间：2018-04-16 12:05

本文选题：微创手术机器人 + 主从一体　；参考：《天津大学》2012年硕士论文

【摘要】：本文紧密结合医疗机器人的研究需求,以微创手术机器人为研究对象,系统地阐述了一种新型微创外科手术机器人的方案设计、运动学分析、运动学仿真、关键构件强度分析、传动系统设计以及构型设计等方面的内容,所得的研究成果已应用于指导一种新型微创外科手术机器人的样机开发。具体包括如下内容: 首先,以微创手术操作的实际需求为基准,在充分研究已经存在的微创手术机器人系统结构优缺点的基础上,阐述了一体式微创手术机器人的概念和一种新型微创手术机器人的设计方案,该方案可有效减小机器人的体积,利于满足微创手术机器人的一体化与便携性要求,减少手术环境对微创手术机器人的限制。此外,本文还提出了一种机器人多自由度被动机构的设计方案,该机构可为术前的机器人初始位姿调整提供方便。其次,本文采用D-H法、矢量法对新型微创手术机器人操作手各组成环节进行了正、逆运动学求解,并在此基础上对机器人的工作空间进行了分析,建立起机器人系统的主从映射模型。随后,通过基于螺旋线的运动学仿真验证了运动学求解的准确性和机构灵活性。最后,在机器人方案设计和关键件强度分析的基础上,开展了该新型微创外科手术机器人结构构型和传动系统的设计研究工作,并最终通过实验研究验证了机构的综合性能。
[Abstract]:In this paper, a new type of minimally invasive surgical robot is discussed, including its scheme design, kinematics analysis, kinematics simulation, and strength analysis of key components.The research results have been applied to guide the prototype development of a new minimally invasive surgical robot.These include the following:First of all, based on the actual requirement of minimally invasive surgery, the advantages and disadvantages of the existing minimally invasive surgical robot system are fully studied.The concept of an integrated minimally invasive surgical robot and the design of a new type of minimally invasive surgical robot are described. This scheme can effectively reduce the volume of the robot and meet the requirements of integration and portability of the minimally invasive surgical robot.Reduce the limitations of the operating environment on minimally invasive surgical robots.In addition, a design scheme of robot multi-degree-of-freedom passive mechanism is proposed, which can provide convenience for the pre-operation adjustment of robot initial position and pose.Secondly, the D-H method and vector method are used to solve the forward and inverse kinematics of the manipulator of the new minimally invasive surgical robot, and the workspace of the robot is analyzed.The master-slave mapping model of robot system is established.Then, the accuracy of kinematics solution and the flexibility of mechanism are verified by the kinematics simulation based on helix.Finally, on the basis of the design of the robot scheme and the strength analysis of the key parts, the structural configuration and transmission system of the new minimally invasive surgical robot are designed and studied. Finally, the comprehensive performance of the mechanism is verified by experimental research.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH777;TP242

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