| Robot assisted medical system has become one of the mostimportant directions among robot studying field. Minimally invasivesurgery(MIS), known for its small trauma, little pain, quickrecovery ,Minimally invasive surgery refers to the surgery usinglaparoscopy, thoracoscopy, and other modern medical equipment.Minimally invasive surgery does not have to go under knife. With only 1to 3 holes ranging from 0.5 to 1 cm, The patient does not leave scars, andfeel no pain. Only 3-5 days needed to complete the examination,treatment, rehabilitation and the whole process. But, at the present time,in extra-vascular environments, it's very difficult to remove thepathological tissue, therefore, This design is based on this background,By analysis troubles from remove pathological tissue, proposed a newsampling robotic.This paper records a elaborate research on Multi-DOF pathologicalsampling flexible robot. The main work includes four aspects as follow:Firstly, accomplishing overall design of the Multi-DOF pathologicalsampling flexible robot according to system requirements, and giving adetailed description of its control mechanism.Secondly, in order to verify the feasibility of the Multi-DOFpathological sampling flexible robot, proceeding related computing forselection and structures static analysis which are essential in the designprocess owing to its functions for the design optimization and verification.Thirdly, according to the need to complete some of the work of thesystem hardware design and build the entire hardware platform.Finally, programming the motion control software of modulesbased on Visual Studio 2008 C # develop environment, and then carryingout movement experiment and simulation capture experiment with theMulti-DOF pathological sampling flexible robot system.Results of the experiment shows that Multi-DOF pathologicalsampling flexible robot can fulfill the prospective design requirements, becapable for sampling and detecting. |
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