Mechanical Structure Desigen And Research Of Endoscopic Surgery Robot

The traditional surgical operation of celiac endoscopy often requires the support of the endoscope by the medical staff.When the human body is tired or jitter,the image of the endoscope is blurred and unclear,which directly affects the operation of the doctor.Robot instead of artificial support endoscope can reduce the workload of medical staff,ensure clear images,and reduce the operation error and operation time of doctors.The purpose of this study is to design a lightweight mechanical arm that can support medical endoscopy and provide a stable,clear and enhanced abdominal cavity image to the surgeon in the abdominal cavity.This paper mainly compares and analyzes the rigid transmission structure and other structural schemes of the mechanical arm,determines the structural scheme of the manipulator,and makes a detailed design of the driving mechanism of the mechanism.First,the requirement analysis of the endoscopic surgery robot is carried out.According to the procedure of endoscopic surgery,the degree of freedom needed to be realized during endoscopic surgery is analyzed,namely,four degrees of freedom,such as pitching,rolling,moving and rotation.At the end of the endoscopic surgical robot actuator with double parallelogram structure,realize the point around the patient abdominal puncture point rotation;lightweight design based on the crank slider mechanism of rotary motion into linear motion,thereby moving degrees of freedom drive motor can post,the mass of endoscopic robot after the shift.Secondly,the kinematics and dynamics analysis of the endoscopic surgery robot.The D-H coordinate method is used to establish the kinematics equation of the end effector.At the same time,the working space of the actuator is plotted by Monte Carlo method.The analysis results show that the structure design of the endoscopic surgery robot can meet the working needs of laparoscopic minimally invasive surgery.The coordinate transformation between the end effector and the clipped endoscope is established by using the Jacobimatrix.The two joints of roll and pitch are calculated by the Lagrange method,which lays a theoretical foundation for subsequent control system research.Then,the static balance design and optimization of the structure of the endoscopic surgery robot.A mechanical model of the spring balance device,more torque,torque,spring derived unbalance torque and pitch drive relationship between arm angle;analysis of related parameters on stress,torque spring torque and unbalance torque effect,combined with the characteristics of structure and installation space constraints determine the range of the key parameters;by using the optimization design method,the optimal parameters,the unbalance torque have reached the minimum at the end of the execution of arbitrary orientation mechanism operation space,and reduce the corresponding joint drive motor driving torque fluctuation,more stable system;application of simulation software of the simulation,the distribution of the solution the situation on the moment,spring balance torque,unbalanced moment in the scope of work.Finally,the simulation of the terminal actuator is simulated by the virtual prototyping technology.The virtual assembly model of the end effector will be established by 3D modeling software Solidworks.After the format transformation,the model will be imported into the simulation software ADAMS.The motion simulation of the important work mode of end effector,namely a certain attitude into the abdominal cavity,to ensure that the designed end effector can clamp the endoscope smoothly into the abdominal cavity;through the motion simulation and then draw the fixed end effector regardless of its stability or motion effect,clinical can be very good to meet the demand of minimally invasive surgery.According to the operation mechanism design of the robot control strategy using torque and displacement error compensation based on the guarantee in the process of movement in order to meet the requirements of high precision control end mechanism,improve the reliability of terminal organization work,and terminal organization system as a linear system is ideal,introduce the corresponding control.