The Optimal Design And Performance Research About Laparoscope-holding System Of The Laparoscopic Robot

Laparoscopic robot which gets across computer, automatic control, mechanical, electronic, medical and other disciplines, has made some major technologies together, such as artificial intelligence, intelligent control, laparoscopic surgery, information processing, image processing technologies.It has become an important direction in the development of a medical robot. The main job of this programe is to completed the optimization analysis of laparoscopic robot which holding a mirror with arms and research work of the performance.This article has introduced the method of mechanical desin optimization computer simulation technology into the subject of the study for laparoscopic robot machine based on the analysis of laparoscopic molding robot system abroad through reading many documents in domestic and abroad.This has provided enough knowledge of research methods and theory for the improvement of the study for laparoscopic robot machine. The major work and conclusions were as follows.1. Using the principle of the application of Denavit-Hartenberg homogeneous transformation matrix of laparoscopic robot holding a mirror with arms and exercise power analysis, we creat the kinematics equations of the machine and the dynamic equations of the key institutions based on Principles of robot manipulator structure .This makes the foundation for the next phase of the simulation analysis and optimization of the design.2. We set up the main performance parameters of the mathematical model to optimize the design in accordance with mechanical statics and dynamics analysis of the forces with the major joints, boom and connecting using the methods of optimization of the design.And we also work out the best optimization results by using the Matlab optimization toolbox to solve and making ADAMS simulation test.3. Completed the job of optimizing the structure of a laparoscopic robot holding a mirror with arms. Discussde the general optimization of the structure of integration, such as structural optimization and modeling, structural finite element analysis, sensitivity analysis, before and after home treatment, structural optimization of the design and static CAD / CAE seamless connections and so on., Reducd the weight of the machine and improved the security and reliability of the laparoscopic robot holding a mirror with arms through the calculation of the structural optimization.4. Combined the body characteristics of the laparoscopic robot holding a mirror with arms, seperating the machine into position adjusting structure and body posture adjusting structure the Improve the performance of the whole work effectively by using the medical surgical robot kinematic parameters and error compensation method to optimize manufacturing and assembly error compensation on a machine to do the error special research.