The Design Of Primary And Subordinate MIS Robot

MIS(Minimally invasive Surgery) has a lot of merits such as little wound, lightpain, fast recuperation and low medical society cost, etc, so it has been applied anddeveloped fast in traditional surgical field. Endoscope MIS(EMIS) is therepresentation of MIS, it's the innovation to the field of traditional open surgicaloperation. The application and development of robotics in the field of surgeryenhances the accuracy and stability of surgical operation, it has been the furtherbreakthrough in this field.In this paper, based on the technology of robotics and related to the characteristic,main technology and applicability of EMIS, the primary and subordinate system ofMIS robot is designed.Firstly based on the function principle of operating tool in MIS, a pair offour-DOF(Degree Of Freedom) subordinate arms are designed, it can fullyaccomplish traditional surgical motion in function, what's more, accuracy and safetyare considered fully in this part;in addition for the orientation and adjusting ofsubordinate arm in surgery, an adjustable subordinate-arm operating table is designed.Secondly isomerous primary arm is designed corresponding to subordinate arm,its main design principle is: function realization, controllability and comfortableoperation, etc.Lastly subordinate arm is analyzed at its force conditions;link coordinate systemof subordinate arm is established and kinematic equations are obtained, through theequations the unknown parameters are determined;in addition the based the relationbetween primary and subordinate arm, the transition matrix between them is resultedin.