Study On Motion Simulation And Optimization Of Laparoscopic Continuum Robot

There is an important significance in study on the laparoscopic robot. As the doctor’s eys, endoscope is the most important medical devices used in mimimally invasive surgery. In ordinary laparoscopic surgery, the endoscope is still hold artificially by doctor, so it is easy to make the doctor feel tied and bring shaking. Even the discrete robot applied in clinical surgery can supply stable and clear vision, but still not flexible and take up too much space.Aimed at the defects of limited motion space of laparoscopic surgery, a new type of laparosopic continuum robot has been studied. And the main tast and contributions are as following:Firstly, designed a new structure of continuum robot, established the kinematics model of continuum robot. And the positive and inverse kinematics analysis were finished. Through the kinematics analysis, the end position, velocity and acceleration characteristics were rec-ognized. And the kinematics analysis of continuum robot is the key of research on contin-uum robot.Secondly, studied on the rigid-flxible coupling multibody system of endoscopic contin-uum robot in the dynamic’s perspective. Established the ADAMS virtual prototype model and made an achievement of motion simulation. Compared the results between motion simulation and kinematics analysis, it confirmed the correctness of kinematics analysis. In the study of continuum robot system, the modeling and simulation of continuum robot also is a difficult problem.Finally, the optimization of continuum robot was finished by ADAMS. Through the creation of the design variables according to the geometry modeling of robot, we created a parametric modeling. Then created a object function about design variables. When the object function achived the best value, we can get the wanted value of design variables.Finally a better virtrul prototype of continuum robot was showed after changing the design variables to wanted value, which has better function of bending and precision.In conclusion, the thesis presented a new kind of structure designed on endoscopic con-tinuum robot, and finished the kinematics analysis. And then, proved the kinematics model and analysis to be correct with the help of motion simulation by ADAMS software. The theoretical foundations, simulation and optimization of this paper were preliminary explora-tion in the field of continuum robots. It was also the important reference resources for the next research and application of continuum robots in our countries.