Performance Analysis And Optimization About A Mirror-holding Arm Of Minimally Invasive Celiac Surgery Robot

With the continuous development of robot technology and the constant progress in medical science in our country, a variety of surgical robot is being created and applied in the surgical operation. Assisted by laparoscope robot surgical operation can be more reliable, less operation time, less wound and less fatigue. So it has a very actual meaning of analyzing and optimizing the performance of the organization of the surgical robot.Through deeply analysis of the structural characteristics and the operation method of laparoscopic surgical robot,a proposal of simulation and optimization of laparoscopic surgery robot can be put forward. The structural redundancy and none-optimization of kinematics and dynamics characteristics caused by experience design can be avoided. The structure design can be provided with theoretical basis, the mechanism performance of surgery robot will improve. Through the lighter quality, the surgery robot will get the result of "lean".According to the function characteristics of the passive joint of surgical robot, a kind of passive joint kinematic jacobian matrix coupled with fluctuation index is put forward. The mathematical modeling towards the target performance is built. Through the Matlab software,the length on the properties of the target sensitivity can be analyzed. Using the enumeration method to optimize the length of bar, comparing the change of the parameters before and after the optimization. The preoperative surgical robot pose can be more sensitive, the error factor of the operation-process can be reduced, and providing some theory data for the dynamic study.Using the method of Lagrange, the dynamics of model the active joints of surgical robot is accomplished, and the validity of the mathematical model is proved through programming and simulation which provides the theoretical basis for future work of controlling. The parameterized model can be got by Adams software. The coupling index of the maximum of driving moment and stress is put forward. Through the analysis of the design variables towards the target sensitivity, the higher-influenced object can be found and making an optimization on it. Comparing the changes of the various performance before and after the optimization, make sure that the overall drive torque values and the mutation value degree is reduced, the stress of hinge point become decreased, and providing some theory data for the study of the lighter structural quality.Through the Ansys/workbench software, making a serious of simulations of static structure, vibration modal and fatigue of the mirror surgical robot arm analyzing the distribution of strength and the optimization-available space of the key parts .On the basis of the combination of bar length of the optimization of the passive joints of the kinematic and dynamics performance,make a design blank of passive joints and structural topology.According to the optimal stress structure, make a parametric model of forearm, and make a light quality optimization on it with the constraints of the maximum stress, deformation and vibration frequency. Make sure that the stress of the passive joints forearm become more uniform, the error of the deformation decreases more, the first order natural frequency increases more in order to get a lighter structural quality.