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| 神经外科手术机器人灵活性分析 | |
| 引用本文： | 邢宏光,王利红,张玉茹.神经外科手术机器人灵活性分析[J].北京航空航天大学学报,2004,30(4):312-315. |
| 作者姓名： | 邢宏光 王利红 张玉茹 |
| 作者单位： | 1. 北京航空航天大学 机械工程及自动化学院, 北京 100083; 2. 郑州航空工业管理学院 机电工程系,郑州 450015 |
| 基金项目： | 国家高技术研究发展计划(863计划) |
| 摘 要： | 开发了用于神经外科手术的五自由度机器人BH600.从神经外科立体定向手术的需求出发,分析了该机器人的灵活性.用服务球和服务区概念给出了五自由度机器人工作空间任意点的灵活度定义,提出了工作空间灵活性的分析方法.通过数值计算和图形显示给出了工作空间的灵活度分布,采用机器人物理样机进行实验,对分析结果进行了验证.掌握灵活度的空间分布,可以为手术路径规划提供可靠的依据. |
| 关 键 词： | 机器人 运动学 医疗机器人系统 灵活工作空间 |
| 文章编号： | 1001-5965(2004)04-0312-04 |
| 收稿时间： | 2003-11-15 |
| 修稿时间： | 2003年11月15日 |
Dexterity analysis of robot for neurosurgery |
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| Xing Hongguang,Wang Lihong,Zhang Yuru.Dexterity analysis of robot for neurosurgery[J].Journal of Beijing University of Aeronautics and Astronautics,2004,30(4):312-315. | |
| Authors: | Xing Hongguang Wang Lihong Zhang Yuru |
| Institution: | 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics， Beijing 100083, China; 2. Dept. of Mechanical Electrical Engineering, Zhengzhou Institute of Aeronautical Industry Management, Zhengzhou 450015, China |
| Abstract: | Minimal invasive surgery assisted robot was developed in Robotics Institute in Beijing University of Aeronautics and Astronautics. Based on the requirement of neurological stereotactic surgery, dexterity of the robot was analyzed. Firstly, using concept of service sphere and service section, definition of dexterity was proposed at any point inside the workspace of the five degree of freedom robot; then, analysis method of workspace dexterity was proposed. Dexterity distribution within the workspace was given using numerical analysis and graphical display, and the result was verified through experiment on the robot physical prototype. With the help of dexterity distribution in workspace, reliable reference can be supplied for surgery operation planning. |
| Keywords: | robots kinematics medical robotic system dexterous workspace |
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