Workspace Analysis And Synthesis Of Microsurgical Robot

Microsurgical Robot System is the significant application in the medical robot. It isnot only related to the robotics, but also involved microsurgery. The basic operationaldata and the layout of the space in microsurgical operation were obtained, accordingto the recording and measurement on the motion of surgeon for vessel suturing. Theworkspace analysis and synthesis of microsurgical robot system are deeply studied byusing numerical method, set theory, matrix theory, computer graphics, and robotickinematics. The following creative works have been completed.The Monte Carlo method is used to determine the workspace of robot manipulators,according to the kinematics mapping relationship from the joint space to theworkspace. For the workspace of planar (2-Dimension) manipulators, the boundarycurve and its area expression is gained by utilizing the method of partitioning by row.The boundary surface and volume expression of 3-D workspace is addressed byenveloping boundary curves of each plane which are obtained by partitioning 3-Dspace into layers. Based on the aforementioned method, the manipulation space ofrobotic surgery (MSRS) is defined and studied deeply. Furthermore, thetransformation of MSRS geometry figure and volume is studied, according to thechange of relation position of dual arms.On the integration of computer graphics and robotic kinematics, absolute topologydecomposition method is proposed to analyze the mechanism dexterity of robotmanipulators at one fixed point in workspace. According to characteristics of themicrosurgery, one novel dexterity and the correspondingly dexterous workspace aredefined, namely dexterity with determinate orientation and dexterous workspace withdeterminate orientation. The dexterous workspace with determinate orientation isconsidered as the intersection of some constant-orientation workspaces. Without theinverse kinematics , the method is very simple and readily implemented.Optimum design method of multi-factor model for microsurgical robot is broughtforward. Not only the kinetostatics performance indices are considered in the method,but the influence of manipulators workspace as well. On considering of the existenceof surgical operative space in the MSRS and the harmonious dexterity of dual arms,the placement of surgical operative space is primarily investigated. Moreover, somebeneficial results from the optimum placement of surgical operative space areconcluded from the investigation.