神经外科手术机器人灵活性分析

邢宏光; 王利红; 张玉茹

神经外科手术机器人灵活性分析

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863基金资助项目(2001AA422110)

详细信息

作者简介:
邢宏光(1976-),男,辽宁鞍山人,硕士生, xhg1130@sina.com.

中图分类号: TP 206⁺1
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- 文章访问数: 2306
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- 被引次数: 0
出版历程
- 收稿日期: 2003-11-15
- 网络出版日期: 2004-04-30

Dexterity analysis of robot for neurosurgery

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

摘要

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.
- 机器人 /
- 运动学 /
- 医疗机器人系统 /
- 灵活工作空间
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.
- robots /
- kinematics /
- medical robotic system /
- dexterous workspace

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参考文献(1)

[1] Minor M, Ra M. A dexterous minipulator for minimally invasive surgery. Proceedings of the 1999 IEEE International Conference on Robotics & Automation. Detroit, Michigan,1999 [2]Yang D C H, Lai Z C. On the dexterity of robotics manilulators-service angle[J]. ASME Journal of Mechanisms, Transmissions, and Automation in Design, 1985, 107(3):162~270 [3]Song S M, Lei Chimeng, Wang Jiang. The end-effector angle and manipulator dexterous workspace[J]. ASME Journal of Mechanical Design, 1990, 112(3):278~282 [4]Lai Z C, Meng C H. The dexterous workspace of simple manipulators[J]. IEEE Journal of Robotics and Automation, 1988, 4(1):99~105 [5]Charles S, Das H, Ohm T, et al. Dexterity-enhanced telerobotic microsurgery[J]. Advanced Robotics, 1997,7:5~10 [6] 黄宇中,张宗明,何奇伟.机器人服务角的分析[J]. 机器人,1989,3(2):15~22 Huang Yuzhong, Zhang Zongming, He Qiwei. Service section analysis of robot[J]. Robot, 1989,3(2):15~22(in Chinese)

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