腹胸腔微创手术机器人远心机构设计分析与阻力补偿分析-design and analysis of telecentric mechanism and resistance compensation analysis of minimally invasive abdominal thoracic surgery robot.docx

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2018-05-29 发布于上海
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腹胸腔微创手术机器人远心机构设计分析与阻力补偿分析-design and analysis of telecentric mechanism and resistance compensation analysis of minimally invasive abdominal thoracic surgery robot.docx

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腹胸腔微创手术机器人远心机构设计分析与阻力补偿分析-design and analysis of telecentric mechanism and resistance compensation analysis of minimally invasive abdominal thoracic surgery robot

AbstractInrecentyears,thepeoplesneedformedicalandhealthlevelsareincreasingsharply，andthecontinuousdevelopmentofscienceandtechnologymakestherobotassistedminimallyinvasivesurgerygraduallyintopeopleslives.Itsbasedoncommonminimallyinvasivesurgery,andpresentedmanyuniqueadvantages,manyuniversitiesandresearchinstitutionsathomeandabroad,hasastronginterestintherobotassistedsurgerysystem,havecarriedoutrelevantresearchandachievedmanyresults.Inthispaper,withthesupportofnational863planprojectAbdomenandchestminimallyinvasivesurgeryrobot’commonkeytechnologyanddemonstrationapplication,thisthesishasdesignedaremotecentermechanismswhichcanbeusedontheabdomenandchestminimallyinvasivesurgeryrobotsystem’smanipulatorhand.Thisthesisimplementstheremotecentermechanisms’in-househollowlineandelectromechanicalintegrationdesign.Theremotecentermechanismscanachievefreeswitchbetweentheinitiativemodeandpassivemode.Thisthesisisbasedonlight-duty,miniaturization,integrationandhighstiffnessdesignconcept,hasdesignedaremotecentermechanismswhichcanbeusedontheabdomenandchestminimallyinvasivesurgeryrobotsystem’smanipulatorhand,includingthemechanicalstructure,drives,sensorsandcontrolsystem.Throughtheanalysisofminimallyinvasivesurgeryrobotsystemoperationconditionandperformancerequirements,thisthesisgotthedesignrequirementsoftheremotecentermechanisms,designedtheremotecentermechanismsaccordingthedesignrequirements,andusedthefiniteelementanalysissoftwareANSYStoanalysistheremotecentermechanisms’stiffnessandstrength.ThisthesisusethemethodofD-Hkinematicstoanalysistheremotecentermechanisms’kinematics,gottheforwardkinematicssolutionandinversekinematicssolutionandJacobianmatrixoftheremotecentermechanisms.UsethemethodofLagrangeequation,analysisthedynamicsoftheremotecentermechanisms,solveoutthedynamicsequation,andusedMATLABcalculatethemaximumdrivingtorqueofeachjoint,laidacertainfoundationforlaterstudy.Thisthesisusethethree-dimensionaldesignsoftwarePro/Ecarryoutthekinematicssimulationoftheremotecentermechanisms,getthemotio