Mechanism Design And Kinematic Simulation Of A Celiac Invasive Surgical Robot

With the development of the robotics and the relative technologies, as robots has the advantage of high positioning precision, the application of robots is stepping into the medical field. Using robots in minimally invasive surgery(MIS) is a hot topic. There are many advantages using robots in MIS such as high operation quality, pain alleviation of patients, shorter healing time, lower medical costs, more operation types of MIS et al. There are much research on MIS abroad, and some achievements have been used in practice. But in out country, the study on MIS is on the beginning.Based on the references at home and abroad, Acccording to the specific circumstances during surgery for targeted research and feasibility studies,in-depth analysis of a robot the specific characteristics of surgical instruments Combination of testrictive conditions a 8 degrees of freedom(DOF) redundant robot is designed, the forward and inverse kinematics, the Jacobian and the redundant character tics are analyzed, and the kinematics is verified by simulation using ADAMS. The detailed design of the robot and the simulation result of the robot are provided.The entire process of the endoscopic surgery is analyzed, based on the preoperative, intraoperative, postoperative needs and advantages and disadvantages of several typical structures, an 8 DOFs robot is designed. The positioning mechanism is the redundant structure, and the endoscope operation mechanism is the remote center structure. The robot kinematic frame is set up based on D-H method, the forward kinematics and the analogical inverse solution are given, the Jacobian is derived by using vector product method, and the redundant characteristics are analyzed.The robot modules are built in Pro/E, and the assembly is transferred into ADAMS through Mech/Pro to set up the virtual prototype. The simulations of three typical motions are performed, and each is illuminated in detail. The simulation results show that the design of the robot is reasonable, the kinematics is correct; and the problem in path planning of the robot when it is used in practice is pointed out to avoid the trembling of the remote center mechanism. Thus, the good foundation for the entirely construction of the robot is settled.