Research On Key Techniques Of Minimally Invasive Surgery 6-DOF Manipulator

In recent years, minimally invasive surgery has a rapid development by the application of the robot in the surgery. But many minimally invasive surgery robots directly use the architecture of industrial robots, the system's reliability, security; operability can not meet the requirements of the operation. Therefore, it is necessary issue to design and research the architecture that suits for minimally invasive robotic surgery systems.Based on the requirements of minimally invasive surgery, the 6-DOF manipulator architecture of the minimally invasive surgery robot is designed and the manipulator's finger is designed by emphasis, and the chucking power, coupling joints of the finger are theoretical analyzed, it laid a solid theoretical foundation to research and develops surgical robot system further.In order to search deeply on the 6-DOF manipulator of the minimally invasive surgical robot, calculated the normal solution of the kinematics by the D-H for the manipulator, and make the manipulator's workspace by the normal solution, solve the inverse kinematics of the manipulator. And the correctness of kinematics is validated by Matlab and multiple solutions of inverse kinematics are studied.In order to reflect clamp ability of the manipulator to the stitching thread, analyzed the fingertip posture, gesture of object and the relationship between the two. Deduced the analytic expression of fingertip gesture when fingertip gripped objects in a gesture of arbitrary at a gripping point, camping dexterity is defined by using pose sphere to reflect clamp ability of the manipulator, by studying clamping dexterity of discrete points in the workspace of the agency, thereby determined the dexterity space of gripping for finger, and carried out simulation by SimMechanics.Analysis the singularity of the manipulator to the characteristics of the structure, the trajectory planning algorithm is further analysis, and it is selected that can be used to the real-time control and not subject to restrictions on the singularity of the agency. And the curved track of slave-hand is fitted, track speed curves and track curves of the joints are planed by the path planning algorithms, the position error and the attitude error are analysis.