The Design And Research Of Surgical Robot Manipulator And Remote Center Mechanism

Minimally Invasive Surgery(Minimally Invasive Surgery,MIS)than traditional Surgery has many advantages,such as lower health care costs,faster postoperative recovery,can reduce the pain of the patients,etc,so the Minimally Invasive Surgery is more and more attention in modern medicine.However,if the current robot technology combined with minimally invasive surgical hand,not only can effectively reduce the labor intensity of the doctors,also can improve the accuracy of the operation,so the medical robots have become the focus in the present.First of all,according to the operation requirements to determine the design requirements of the surgical robot,by the design requirements of robot configuration has carried on the detailed comparison and analysis,according to the design of configuration of the robot manipulator with telecentric institutions,according to clinical experience and after optimization algorithm to optimize the operation of the robot arm part,and it is concluded that the robot's final structure configurations.Secondly,according to the design of the robot configuration,using the D-H matrix method for analysis of robot kinematics positive solution and geometry method is used to find out different forms of robot kinematics reverse solution,finally through the vector product method was used to solve the Jacobi matrix of the robot.Again,according to the design of robot has the characteristic of a redundant manipulator,the improved gradient projection method is applied to optimize the kinematics of the robot,and to meet the needs of operation and preoperative arm type setting,gives the optimized function for different situations,the Matlab software simulation results improved gradient projection method for robot arm shape optimization settings.Finally,according to the requirements of the telecentric mechanism design,use of virtual prototype in ADAMS simulation robot far heart institutions typical movement way,through the joint angle and angular velocity curve drawing,watch the robot in the actual operation effect under different movements,finally,the joint torque are simulated,and compared with the theoretical value calculated by,verify the rationality of the design of robot telecentric institutions.