Structure Analysis And Motion Control Of The Minimally Invasive Surgery Cavity Manipulator

Recently, surgery robots entering the modern life have played an important role in the modern surgery. Minimally Invasive Cavity Manipulator as the key part of the surgery robot is mainly used to hold up the skin and finish the cavity. Zhejiang University and the Head and Neck Shaping department of the Zhejiang University Medical College Affiliated SIR RUN RUN SHAW HOSPITAL cooperate to develop the cavity manipulator which is used to the thyroid surgery. A new 4-DOF manipulator is designed to improve the application. The static analysis result demonstrates the stress and strain of the key part and the whole disassembly is tiny by use of COSMOS. The kinematics and dynamics of the manipulator are deduced to simulate the performances by use of the MATLAB/SIMULINK. The results of the simulation demonstrate this manipulator can satisfy the need of load characteristic of the moving trajectory. The hardware and software design was introduced in details. At last, the experimental results research on the position accuracy are analyzed and discussed.The main research could be divided into several chapters, such as following:In chapter 1, the development situation and trend of the medical robot both domestic and overseas are summarized. Then review the background and significance of this topic, finally put forward the main research contents.In chapter 2, the structure principle and stress analysis of the Cavity Manipulator are introduced. The static analysis demonstrates the stress and strain of the key part and the whole disassembly is tiny.In chapter 3, the motion simulation of the manipulator is done. The kinematics and dynamics of the manipulator are deduced to simulate the performances by use of the MATLAB/SIMULINK. The results of the simulation are very helpful to the motor's control.In chapter 4, the control system is analyzed. The hardware and software design are introduced in detail. The schematic and PCB sheet of the controller have been developed and the corresponding control software has been programmed. The controller could drive the four Step Motor's starting and stopping, acceleration and deceleration, and subdivision drive.In chapter 5, the experimental research on the position accuracy is done. The results demonstrate that the accuracy of manipulator is high.In chapter 6, the research work is summarized and perspectives on the future are presented.