北京航空航天大学学报 ›› 2005, Vol. 31 ›› Issue (07): 730-734.

• 论文 • 上一篇    下一篇

微创外科机器人手腕灵活性的研究

刘达, 胡磊   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
  • 收稿日期:2004-10-30 出版日期:2005-07-31 发布日期:2010-09-21
  • 作者简介:刘 达(1972-),男,北京人,博士后, drliuda@buaa.edu.cn.
  • 基金资助:

    国家863基金资助项目(2004AA421012)

Study on wrist dexterity of minimally invasive surgical robot

Liu Da, Hu Lei   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2004-10-30 Online:2005-07-31 Published:2010-09-21

摘要: 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.

Abstract: 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 endjoint axes are perpendicular, 2-DOF wrist could meet the dexterity requirementsof 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.

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发