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胸腹部微创手术机器人设计和运动精度分析

原伟 姜杉 杨云鹏 王伟

原伟, 姜杉, 杨云鹏, 王伟. 胸腹部微创手术机器人设计和运动精度分析[J]. 机械科学与技术, 2017, 36(11): 1658-1665. doi: 10.13433/j.cnki.1003-8728.2017.1104
引用本文: 原伟, 姜杉, 杨云鹏, 王伟. 胸腹部微创手术机器人设计和运动精度分析[J]. 机械科学与技术, 2017, 36(11): 1658-1665. doi: 10.13433/j.cnki.1003-8728.2017.1104
Yuan Wei, Jiang Shan, Yang Yunpeng, Wang Wei. Design of Thoracoabdominal Minimally Invasive Robot and Kinematic Analysis[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1658-1665. doi: 10.13433/j.cnki.1003-8728.2017.1104
Citation: Yuan Wei, Jiang Shan, Yang Yunpeng, Wang Wei. Design of Thoracoabdominal Minimally Invasive Robot and Kinematic Analysis[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1658-1665. doi: 10.13433/j.cnki.1003-8728.2017.1104

胸腹部微创手术机器人设计和运动精度分析

doi: 10.13433/j.cnki.1003-8728.2017.1104
基金项目: 

国家自然科学基金项目(51175373)与天津市重大科技专项项目(14ZCDZGX00490)资助

详细信息
    作者简介:

    原伟(1992-),硕士研究生,研究方向为微创手术机器人,Wei_Yuan@tju.edu.cn

    通讯作者:

    姜杉(联系人),教授,博士,shanjmri@tju.edu.cn

Design of Thoracoabdominal Minimally Invasive Robot and Kinematic Analysis

  • 摘要: 为提高胸腹部微创放疗手术的精度,提出一种新型的CT引导的7自由度穿刺机器人系统。根据临床需求,采用丝传动方式解决了空间限制和CT引导下的驱动兼容性问题,进而设计了一种全新的机器人构型;通过运动学分析,得到了穿刺针工作空间形状,根据空间尺寸要求优化了机器人结构参数;基于拉格朗日方程建立机器人系统动力学模型,得到了调姿过程中各关节力/力矩与关节运动参数的关系。最终,通过定位误差修正实验,提高了机器人定位精度,并在此基础上完成了机器人穿刺精度实验,穿刺平均误差为1.09 mm,证明了机器人系统满足手术精度要求。
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出版历程
  • 收稿日期:  2016-07-18
  • 刊出日期:  2017-11-05

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