The Design And Research Of The Robot Arm For Celiac Minimally Invasive Surgery

In recent years, the robot-assisted minimally invasive surgery technologies extend the surgical category and to some extent, improve the precision and flexibility of surgical procedure. So the technologies have attracted wide attention as well as research in the world. The robotic surgical mode that is applied to the conventional minimally invasive surgery to replace assistants integrates traditional micro-surgery and robot technology advantages. It easily accepted by doctors, Suitable to promote for the hospital in China and reduce the health care costs.So with the support of the key project from Jilin Province Science and Technology Department “The research of the new robot system assisting the thoracoabdominal minimally invasive surgery”, develop a new robot assisted minimally invasive surgery, gripping the endoscope and stretching organization instead of assistant. This article focuses on the research about the new minimally invasive surgical robot arm.According to characteristics of celiac minimally invasive surgery and functional features of the new minimally invasive surgical robot, develop a new surgical robot arm holding the endoscopy, including the detailed design of the positioning mechanism and the remote center mechanism(RCM). The actuators stretching organization and the RCM gripping the endoscope are arranged at the end of the arm holding the endoscope, which is the overall configuration of the surgical robot arm. The dimensional parameters of robot arm are optimized by the sequential quadratic programming(SQP) algorithm. At the same time, the driving torques of the joints of the RCM are theoretically calculated to select the matching motors.Based on the configuration of the new surgical robot arms, the kinematics analysis of the robot arms holding the endoscopy are done with the D-H method, calculating the forward kinematics; the inverse kinematics is obtained by the inverse matrix; The robot arms Jacobian is set up, ready for the control of the surgical robot.The posture adjustment and the centering movement of the RCM are simulated by ADAMS,verifying the smoothness of the posture adjustment and the centering effect of the RCM. Simultaneously, the driving torques of the joints of the RCM are obtained, which are compared with the calculated torques confirming the reasonableness of the motor selection. In ANSYS, the key members of the surgical are checked by static analysis.The new surgical robot experiment platform is established, testing the ability of continuous rotation and reliable locking of the surgical robot arm joints; positioning capability of the arm as well as the posture adjustment of the RCM; the precision of the RCM motion. The results are analyzed whether the surgical robot meets the functional requirements of surgery.