【作者】 牛志鹏；

【导师】 洪鹰；

【作者基本信息】 天津大学 ， 机械电子工程， 2005， 硕士

【摘要】 微创外科手术(MIS, Minimally Invasive Surgery)以其创伤小、可减轻患者痛苦、术后恢复快、有利于降低医疗社会成本等诸多优点在传统的外科手术领域中得到应用并迅速发展,而腹腔镜微创外科手术作为微创的代表,是对传统开放性手术的一次重大变革;机器人技术在医疗领域的应用和发展,提高了外科手术的精确度和稳定性,是外科手术领域的进一步突破。本文在机器人技术的基础上,结合腹腔镜微创外科手术的特点、技术要点和手术适用范围,进行主从式微创手术机器人系统的设计。首先,根据微创外科手术中手术工具的工作原理,设计了一对4-DOF(DegreeOf Freedom)从手,在功能上,它完全能够完成相关的传统手术的基本动作,这部分的设计还充分考虑到机器人手术的精度和安全性问题;另外,为了方便手术时从手的定位和调节,设计了一个可调节的从手手术平台。其次,对应于从手,设计了异构式的主手,主手的主要设计原则是:功能实现、可控性和操作舒适性等。最后,进行了从手动态状态下的受力分析;构建了从手连杆坐标系,建立运动学方程,对其进行了运动学反解;分析主从手之间的关系,建立了两者之间的转换矩阵。更多还原

【Abstract】 MIS(Minimally invasive Surgery) has a lot of merits such as little wound, lightpain, fast recuperation and low medical society cost, etc, so it has been applied anddeveloped fast in traditional surgical field. Endoscope MIS(EMIS) is therepresentation of MIS, it’s the innovation to the field of traditional open surgicaloperation. The application and development of robotics in the field of surgeryenhances the accuracy and stability of surgical operation, it has been the furtherbreakthrough in this field.In this paper, based on the technology of robotics and related to the characteristic,main technology and applicability of EMIS, the primary and subordinate system ofMIS robot is designed.Firstly based on the function principle of operating tool in MIS, a pair offour-DOF(Degree Of Freedom) subordinate arms are designed, it can fullyaccomplish traditional surgical motion in function, what’s more, accuracy and safetyare considered fully in this part;in addition for the orientation and adjusting ofsubordinate arm in surgery, an adjustable subordinate-arm operating table is designed.Secondly isomerous primary arm is designed corresponding to subordinate arm,its main design principle is: function realization, controllability and comfortableoperation, etc.Lastly subordinate arm is analyzed at its force conditions;link coordinate systemof subordinate arm is established and kinematic equations are obtained, through theequations the unknown parameters are determined;in addition the based the relationbetween primary and subordinate arm, the transition matrix between them is resultedin.更多还原