【作者】 王恒之；

【导师】 付宜利；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2009， 硕士

【摘要】 微创外科手术(Minimally Invasive Surgery, MIS)以其创伤小、可减轻患者痛苦、术后恢复快、医疗成本低等诸多优点在传统外科手术领域中得到广泛应用并迅速发展。而将机器人技术应用到微创外科手术中能够有效地提高手术质量,降低医生劳动强度。因此,在微创外科手术领域机器人的应用得到了极大的重视,并已成为医疗机器人领域的研究热点。结合国家“863”计划资助项目“腹腔微创手术机器人系统研究”,本文对腹腔微创手术机器人从手系统进行详细的结构设计及运动学与动力学分析;在此基础上结合实际手术过程的需要,对机器人臂形设置情况进行相关理论研究;最后,利用ADAMS软件对机器人臂形设置情况以及典型运动方式进行模拟仿真,并进行相关实验研究。本文首先对腹腔微创手术机器人从手系统进行结构设计。在对腹腔微创手术作业进行分析的基础上,确定机器人的最终构型方案,并进行详细的结构设计;结合手术需要对机器人进行臂长优化;根据手术过程中机器人各关节的受力情况,对其关键零部件进行力学分析,并最终选择伺服电机。其次,对腹腔微创手术机器人进行运动学及动力学分析。采用D-H法,求出机器人的运动学正解;运用几何法给出机器人运动学逆解的解析解;采用矢量积法给出机器人的雅可比矩阵;并采用拉格朗日-欧拉法对机器人进行动力学仿真,获得机器人各关节力矩曲线,验证所选电机的合理性。再次,对腹腔微创手术机器人进行术前臂形设置研究。在对冗余自由度机器人进行运动学研究的基础上,给出用于冗余自由度机器人运动学优化的改进的梯度投影算法;结合实际手术需要,分别给出手术器械操作臂臂形设置的目标优化函数以及多臂协调操作臂形设置的目标优化函数,并利用改进的梯度投影算法,采用Matlab软件对机器人臂形设置情况进行仿真研究。最后,利用虚拟样机技术对机器人臂形设置情况及典型运动方式进行模拟仿真,观察机器人的实际运行效果,并绘制关节角曲线,验证机器人臂形设置算法及平行四边形机构设计的合理性;之后,针对已加工出的机器人本体进行相关实验研究。更多还原

【Abstract】 Minimally invasive surgery (MIS) is quickly developing and widely used due to the advantages of shorting the recovery time and reducing the tissue damages incurred from incision. The use of robot into minimally invasive surgery is gradually accepted by surgeon by virtue of enhancing quality of minimally invasive surgery, reducing the surgeon’s intensity of labour, therefore, Surgical robot technology and its equipment have gradually become the hotspot in the research field of medical robotics and have attracted the interest of robotic researchers.The work is supported by the National 863 high-tech project“Research on minimally invasive Robot for laparoscopic surgery”. An innovative minimally invasive robot is developed. According to structure of surgical robot, kinematics and dynamics is analyzed, the research about the arm configuration is carried out, and the typical motion mode is simulated by ADAMS software at last.Firstly, the mechanical structure of minimally invasive robot is designed. According to clinical environment of minimally invasive surgery and analyzing the requirement of minimally invasive surgery, the structure types of robots is determined. Moreover, the mechanical structure of robot is designed in detail. Depending on the surgical need, the arm length is optimized, the mechanical analysis is carried out and servo-motor is selected in the end.Secondly, the kinematics and dynamics of the robot is analyzed. The forward and inverse kinematics is solved by D-H method and geometric method, and Jacobian matrix is calculated using vector product method, respectively. The torque graph is got with dynamics software, and the rationalization of motor is validated.Thirdly, the arm configuration optimization is carried out. Based on the research about the kinematics of redundant arm, the Gradient Projection Method (GPM) which is used for kinematics optimization is submitted. According to the actual needs, the performance index functions are constructed which are used for task-weighted multiple performance optimization and dual redundant arm configuration optimization. In the end, the algorithm is simulated with MATLAB.Finally, the results of manipulator configuration optimization are simulated by Virtual Prototype Technology (VPT). The virtual robot model is built using Pro/E and then the model is transferred to ADAMS using M/Pro. The actual operation of the robot is simulated and the paper gives the joint angle curves. The rationalization of the algorithm and the parallelogram linkage are validated.更多还原