微创手术机器人机械臂结构设计与工作空间分析
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摘要
目的现有双平行四边形机构设计的机械臂需要串联一个伸缩自由度机构,导致机械臂体积增大,运动灵活性降低,持镜臂与持器械臂发生干涉。针对这一问题,提出一种新型机械臂结构,增强运动灵活性、减小机械臂的体积。方法采用5连杆机构、滑块与滑轨的低副机构和丝传动机构设计机械臂,实现末端执行器的伸缩运动,建立机械臂的运动学模型,以MATLAB为仿真工具验证零位关节角D-H参数的正确性,求解出机械臂的运动方程;同时运用蒙特卡洛算法,得到末端执行器的三维工作空间范围,并对3条机械臂作术前动物实验规划;最后,在猪体内进行胆囊切除等操作,验证机械臂的双5连杆2自由度设计的合理性和可操作性。结果蒙特卡洛算法在MATLAB环境下得到的工作空间范围为:-650.4 mm Objective The current manipulator with double parallel quadrilateral mechanism should be connected in series with a flexible degree of freedom(DOF) mechanism, which increases the volume of the manipulator, decreases the motion flexibility and creates the interference between the mechanical arms that hold the mirror and the device. Aimed at solving this problem, a novel mechanical arm was put forward to enhance the motion flexibility and reduce the volume of the manipulator. Methods The mechanical arm was designed by using the mechanism of five-link, slider and slide rail lower pair and wire transmission to realize the telescopic movement of the end effector. The kinematics model of the manipulator was established, and the MATLAB was used as the simulation tool to verify the correctness of the D-H parameters under the specific zero joint angle, and the motion equation of the manipulator was solved. Meanwhile, the three-dimensional workspace of the end effector was obtained by using Monte Carlo algorithm, and the preoperative plan of animal experiment for 3 arms was performed. Finally, cholecystectomy and other operations were acted in pigs, to verify the rationality and maneuverability of the design of double 5-link 2-DOF manipulator. Results The working space of Monte Carlo algorithm under MATLAB environment was-650.4 mm
引文
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[2] LI J, ZHOU N, WANG S, et al. Design of an integrated master-slave robotic system for minimally invasive surgery [J]. Int J Med Robot, 2012, 8(1): 77-84.
[3] BOYD WD. Robotic surgery using ZeusTM Micro WristTM technology [J]. J Cardiac Surg, 2003, 18(18): 1-5.
[4] ZHOU HX, GUO YH, YU XF, et al. Clinical characteristics of remote Zeus robot-assisted laparoscopic cholecystectomy: A report of 40 cases [J]. World J Gastroenterol, 2006, 12(16): 2606-2609.
[5] STOIANOVICI D, WEBSTER R, KAVOUSSI L. Robotic tools for minimally invasive urologic surgery [M]// MOORE RG, BISHOFF JT, LOENIG S, et al. Minimally invasive urologic surgery. London: CRC Press, 2005.
[6] SUN LW, MEER FV, YAN B, et al. Design and development of a Da Vinci surgical system simulator[C]// Proceedings of International Conference on Mechatronics and Automation. Harbin: IEEE, 2007: 1050-1055.
[7] Hanly EJ, Marohn MR, Bachman SL, et al. Multiservice laparoscopic surgical training using the da Vinci surgical system [J]. Am J Surg, 2004, 187(2): 309-315.
[8] 李建民, 王树新, 张建勋, 等. 微创手术机器人控制策略[J]. 天津大学学报(自然科学与工程技术版), 2011, 44(10): 884-889.
[9] 潘博. 腹腔镜操作机器人研制及其关键技术研究[D]. 哈尔滨: 哈尔滨工业大学, 2009.
[10] 李建民. 微创机器人机构设计方法与主从映射策略研究[D]. 天津: 天津大学, 2012.
[11] 库珀T, 所罗门T. 偏移遥控中心的操纵器: CN 102327152 A [P], 2012.
[12] 赵旭东. 腹腔微创手术机器人手术器械的结构设计[D]. 哈尔滨: 哈尔滨工业大学, 2010.
[13] KUO CH, DAI JS. Robotics for minimally invasive surgery: A historical review from the perspective of kinematics [C]//Proceedings of International Symposium on History of Machines and Mechanisms. Netherlands: Springer, 2009: 337-354.
[14] 何超. 微创手术机器人手术工具丝传动设计方法研究[D]. 天津: 天津大学, 2013.
[15] 菅奕颖. 6-DOF工业机器人的工作空间与灵巧性分析及其应用[D]. 武汉: 华中科技大学, 2015
[16] 郭发勇, 梅涛, 赵江海. D-H法建立连杆坐标系存在的问题及改进[J]. 中国机械工程, 2014, 25(20): 2710-2714.
[17] TONDU B. Kinematic modelling of anthropomorphic robot upper limb with human-like hands[C]// International Conference on Advanced Robotics. Munich: IEEE, 2009: 1-9.
[18] CRAIG JJ, 著. 贠超, 译. 机器人学导论[M]. 北京: 机械工业出版社, 2006.
[19] 陈亮. 机械手的运动学分析及在屏幕贴合中的应用[J]. 机器人技术与应用, 2014(2): 26-28.
[20] 林海峰, 王姮. 多关节机器人工作空间仿真方法[J]. 微型机与应用, 2014(2): 72-74.
[21] RASTEGAR J, FARDANESH B. Manipulation workspace analysis using the Monte Carlo method [J]. Mech Mach Theory, 1990, 25(2): 233-239.