多自由度手术器械的结构设计与工作空间仿真

吕坤勇; 朱勋; 沈桐; 宋成利

doi:10.13433/j.cnki.1003-8728.2016.1214

多自由度手术器械的结构设计与工作空间仿真

doi: 10.13433/j.cnki.1003-8728.2016.1214

吕坤勇¹,
朱勋²,
沈桐¹,
宋成利^1, ,

1.
上海理工大学医疗器械与食品学院, 上海 200093;
2.
上海理工大学机械工程学院, 上海 200093

基金项目:

国家自然科学基金项目（51175345）与上海市研究生创新基金项目（JWCXSL1301）资助

详细信息

作者简介:
吕坤勇(1986-),博士研究生,研究方向为微创手术器械开发,kylv@usst.edu.cn

通讯作者:
宋成利(联系人),教授,博士生导师,csong@usst.edu.cn

计量
- 文章访问数: 228
- HTML全文浏览量: 25
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2015-03-09
- 刊出日期: 2017-01-05

Structure Design and Workspace Simulation of a Multi-degrees of Freedom Surgical Instrument

1.
School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
2.
School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

摘要

摘要: 介绍了一种钢丝绳驱动的串联弯曲结构，并对其进行结构优化和工作空间仿真。通过理论分析及数值仿真，避免传统结构弯曲时发生的钢丝绳松弛现象，提高控制精度。建立手术器械的运动模型，用D-H法进行正向运动学求解，得到器械末端位置，采用数值仿真法模拟多自由度器械与传统直器械的工作空间，并进行对比分析。结果表明多自由度器械相比传统直器械工作空间更大，具有更好的灵活性。
- 多自由度器械 /
- 微创手术 /
- 钢丝绳松弛 /
- D-H法 /
- 工作空间
Abstract: A novel cable driving serial bending unit was introduced, and structural optimization and workspace simulation were carried out. With theoretical analysis and numerical simulation, the bending unit was optimized to prevent cable slacking during bending operation, and control accuracy was enhanced. Forward kinematic model of multi-degrees of freedom instrument was established and the final position was calculated by Denavit-Hartenberg (D-H) method. Based on Monte Carlo methods, workspace of multi-degrees of freedom instrument and traditional straight instrument was obtained and compared, and then the Unigraphics (UG) software was employed to calculate the exact workspace volume. The results indicated that multi-degrees of freedom instrument had more workspace and dexterity than straight instrument.
- multi-degrees of freedom /
- surgical instrument /
- structural optimization /
- D-H method /
- workspace

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参考文献(16)

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