Design And Finite Element Analysis Of Flexible Needle Operation Robot

Minimally invasive medical technology, as a new technology, has developedrapidly in recent years. Minimally invasive medical technology can effectivelyreduce the trauma of operation, depress the suffering of patients andpostoperative complications. The flexible needle used in the minimally invasivesurgery can solve the drawbacks of traditional rigid needle, like the puncture pathcannot be adjusted and it can avoid the obstacles in puncture. Medical robot is ahot research topic in recent years. The introduction of robot is a revolution ofminimally invasive medicine, and it has become the developing direction ofminimally invasive medicine.On the basis of flexible needle to puncture the target requirements, under theguidance of the conflict matrix and40invention theory in TRIZ theory, theoverall structure schemes of flexible needle operation robot is designed. On thebasis of this, the optimization of transmission mode and the pose adjustmentmechanism of the needle are gained. The kinematics analysis of the flexibleneedle operation robot is analyzed, including the calculation of the forward andinverse kinematics, and the Matlab/Simulink is used to establish robot simulationmodel, the work space of the robot is simulated and analyzed. The3D modelingsoftware UG7.5is utilized to establish the virtual prototype of the flexible needleoperation robot, and ANSYS finite element software is used to analyze the poseadjustment mechanism which is the key component of the robot, for staticanalysis and model analysis. Analysis results show that the structure of the robotis reasonable. And finally, the dynamics simulation of the adjustment mechanismof robot is performed, using AView module of ADAMS software, by importingthe virtual prototype established previously. The torque curve of the poseadjustment mechanism shaft is obtained, proving the rationality of the motorselection. In this dissertation, under the guidance of TRIZ theory, a flexible needleoperation robot is designed. Through the kinematics analysis of the robot, thestatic analysis, modal analysis and dynamic simulation analysis of the keycomponent, it is proved that the flexible needle operation robot is feasible, andwith the reasonable structure. Adopting robot to manipulate the flexible needle,the high efficiency, accuracy and security can be realized.