Research And Development On Micro-Manipulator Of A Laryngeal Surgical Robot

A micro-manipulator of a slave-manipulator is developed, which is a component of a laryngeal surgical robot system. The system is developed for minimally invasive surgery of laryngeal and able to perform two-arm surgical operation in a laryngoscope, for example, grasping, separating, cutting and suction of laryngeal tissue in narrow space. Several advantages of the system are achieved as follows: less pain and less strain of the patients, faster recovery, small injuries and higher operation quality.Firstly, after quantitative analyzing the characteristic, arrangement, space and motion of laryngeal surgical operation, a description about design principles of the system are presented. Then the analysis of arm, wrist and tool is taken, which results in the overall configuration of the system. And with Denavit-Hartenberg method, a mathematic model of the mechanical system is established.Secondly, the micro-manipulator is analyzed in detail, and a system composed of 3 DOF of rotation, pitching and holding is designed. A quick-replacing mechanism is added for laryngeal surgery operation. Then the detailed configuration and function of the micro-manipulator are presented, and the mechanical calculation is taken.A virtual prototype of the micro-manipulator is established using ADAMS to analyze kinematic and dynamic performance. In kinematic simulation, the angular velocity diagram and displacement of each joint are obtained, which show no collision between mechanical parts of the system. In dynamic simulation, the load-torque and power consumption diagram of each motor are obtained, which give theoretical foundation for the design of control system and the selection of motors.Finally, the control system of the laryngeal robot system is discussed, including overall architecture of hardware, motion control cards and motors. High-performance motion control cards are utilized to get precise motion control. An open-loop model of servo system is established using MATLAB Simulink to select appropriate servo motors.