微创外科机器人手腕灵活性的研究

为了能够按照手术最佳姿态完成机器人路径规划,从几何角度对微创外科机器人手腕灵活性进行研究.根据微创外科机器人末端工具的结构和安装特点,运用末端工具姿态球解析法分析手腕灵活性.研究工具的预置位姿对手腕灵活性的影响,证明工具轴线与末关节轴线垂直时,二自由度手腕可以获得满足微创手术要求的灵活性.研究关节轴向偏距对手腕灵活性的影响,证明当存在Z轴方向偏距的情况下,末端工具可以实现全方位的姿态.在此基础上,提出了二自由度手腕成为灵活手腕的必要条件.依据这一条件可以简化微创外科机器人手腕结构.

Study on wrist dexterity of minimally invasive surgical robot

In order to implement robot path planning according to the surgery optimum pose, the wrist dexterity of minimally invasive surgical robot was geometrically investigated. According to the structure and characteristic of minimally invasive surgical robot tools, wrist dexterity was analyzed by using analytic method of tool pose sphere.The impact of predefined pose of tools on the wrist dexterity was studied. It was proved that when the tool axes and the end joint axes are perpendicular, 2-DOF wrist could meet the dexterity requirements of minimally invasive surgery. The impact of axis setover of joints on wrist dexterity was studied. It was proved that when the setover along Z axis exists, the end tool could realize poses in all orientation. Based on these principles, the necessary conditions of how 2-DOF wrist becomes dexterous wrist were proposed. According to the conditions, the wrist structure of minimally invasive surgical robot is simplified.