Laparoscopic Robot Holding A Virtual Simulation And Detailed Structural Design Of The Mirror Arm

The laparoscopic robot is a product unified by the laparoscope technology and the robot technology, is an important part in the study field of robot. Laparoscopic robot a subject that include artificial intelligence, intelligent control, laparoscopic surgery, information processing and imagery processing, has the contact with the subject of computer, automatic control, machinery, electron, medicine, becomes an important direction in the development of current medical robot. The laparoscope-holding system which can replace the laparoscope-holder is the earliest study object in the laparoscopic robot system. The prime task of this topic is to completes the design and manufacture of the laparoscope-holding arm Mock-up of laparoscopic robot, starts a gradual important step for the development of the whole laparoscopic robot.Based on analysis of overseas laparoscopic robot system, the article proposed a design proposal of laparoscope-holding system that conformed to the actual state of our country, gave mass simulation data of the laparoscope-holding arm and detailed design method and technical data of the mock-up through consulting crossing a large number of internal and external documents.This article first has carried on the comprehensive analysis for the entire process of laparoscopic surgery, propose a design proposal of laparoscope-holding system based on the movement need of all the surgery, holds the mathematics model of laparoscope-holding arm with the kinematics, dynamics analysis, then establishes three dimensional model of laparoscope-holding arm through UG software, next introduces into the Virtual Prototype software ADAMS, carries on the analysis and simulation joint with control module of the control software Matlab/Simulink, establishes the virtual prototype of laparoscope-holding arm of laparoscopic robot. Finally designs detailed structure of the mock-up based on the mass data which obtained from the simulation and analysis, completes detailed technical data of themock-up.This topic established the virtual prototype of laparoscope-holding arm of laparoscopic robot, and carried on the analysis and simulation for the virtual prototype successful. Meanwhile using the obtained mass data completed the detailed structure design of the mock-up, completed an important step for the whole construction of laparoscopic robot.