微创手术机器人力反馈型主操作手设计与分析-design and analysis of force feedback main manipulator for minimally invasive surgery robot.docxVIP

ABSTRACT Minimal incision has always been held as the everlasting principle and a respectable goal of the surgical world, which has undergone a historic transformation from the traditional laparotomy to the laparoscopic surgery, also known as the second medical revolution. Helping patients heal without causing any incision more than necessary has always been the goal of the medical development. This is why we have Minimally Invasive Surgery (MIS) robots now and how they have become the frontier technology of the current medical surgery. During the surgery, surgeons operate MIS robots by taking control of slave devices and surgical instruments, hence the success of an MIS depends a lot on the performance of haptic devices. And this thesis is precisely an attempt to probe into the question under discussion. Based on an analysis of the workspace of laparoscopic surgeries and the hand movements of surgeons during surgical operations, we can determine the performance index and the design principles for master manipulators, and then complete the structure design. Then a kinematic analysis of the proposed structure is performed by using a modified D-H method. The condition number and manipulability are analyzed based on Jacobian to determine the link parameters. Kinematics simulation and workspace analysis are also conducted, finally the structure of the master manipulator can be established. According to the established structure, a more specific design as to the configuration is put forward, including the multistage cable transmission layout of joints, the motor front layout. The implementation for cable tension function and the structure design for cable transmission in the link are established. And then the assembly and testing of the master manipulator is completed. The statics model for the master manipulator is established, and the equation between the posture of the master manipulator and the torque to be compensated for the connecting-rods to combat gravity is de