手术机器人机械臂的研制和结构优化

发布时间：2019-06-02 07:50

【摘要】：近几年,手术机械臂技术得到了快速发展,随着人们对于自身健康的重视及对新型医疗手术的需要,手术机械臂的研究因此也就成为了一个全球性的研究热点。由于传统的医疗手术需要医生和护士的全程操作,因此对于医院的人力和物力都造成极大的损耗,且难度大的手术过程中还需要专家级的医生长时间的操作。手术时间的冗长对于医生及护士的体力及手术精准性都带来不小的挑战,而利用机器人代替外科医生实施手术会给病人带来体外切口小、手术痛楚轻,给医院带来节约人力物力、手术恢复快等优点,同时还能有效的提高手术安全性。本课题拟研究一种新型的外科手术机器人系统,对机械机构进行选型,分析其运动学和动力学,以机械臂工作空间和力消耗为分析对象,针对工作空间优化了机械臂的结构参数和力分布,研制一种七自由度串联型医疗机械臂。首先,针对工作要求选择机器人的自由度和机构构型。其次基于D-H法建立了机械臂的参数表,根据机械臂正运动学理论通过姿态转换矩阵得到运动学正解方程,并依据机械臂的构型特点和实际工作状态,结合现代控制理论中的李雅普洛夫大范围渐近稳定原理解非线性方程得到机械臂的运动学逆解方程。为了提高医疗机械臂的工作空间和手术效率,减小机械臂的操作空间和结构尺寸,以适应针对不同病人的工作特点和手术环境,本课题提出了基于工作空间的结构优化模型,得到了机械臂的结构和转角参数。并分析了优化后的机械臂工作空间。再次,对机械臂的关节受力情况进行分析,确定动力机构的功率,包括机构的转速和扭矩,从而确定采用的电机型号和减速器。减速器考虑了常规的齿轮减速、行星齿轮减速和谐波齿轮减速器,同时还要综合考虑减速器的减速比、静态阻尼等因素,结合关节力分析和力优化最终得到机械臂的动力机构。分析其动力学及校核刚度和强度,以使其满足工作要求。最后,设计了机械臂的肩关节、肘关节和腕关节结构,并根据本手术机器人的工作要求设计了手术器械,搭建实际的机械臂系统平台对机械臂的性能进行相关实验研究。
[Abstract]:In recent years, surgical manipulator technology has been developed rapidly. with the attention to their own health and the need for new medical surgery, the research of surgical manipulator has become a global research focus. Because the traditional medical operation needs the whole operation of doctors and nurses, it causes great loss to the manpower and material resources of the hospital, and the difficult operation process also needs the operation of the expert doctor for a long time. The length of operation time poses a lot of challenges to the physical strength and accuracy of doctors and nurses, and the use of robots instead of surgeons to carry out surgery will bring patients with small incisions in vitro and less pain. It brings the advantages of saving manpower and material resources, fast recovery of operation and so on, and can also effectively improve the safety of operation. In this paper, a new surgical robot system is studied, the mechanical mechanism is selected, its kinematics and dynamics are analyzed, and the workspace and force consumption of the manipulator are taken as the analysis object. Aiming at optimizing the structural parameters and force distribution of the manipulator in workspace, a seven-degree-of-freedom series medical manipulator is developed. Firstly, the degree of freedom and mechanism configuration of the robot are selected according to the working requirements. Secondly, based on the D 鈮，

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