Research On Design And Analysis Of Mechanism Of Vascular Interventional Surgical Robot

Cardiovascular disease mortality is higher and higher,interventional surgery advantage relative to traditional surgery,but the manual operation of the doctor's damage caused by many scholars at home and abroad and the company on the research of the minimally invasive interventional surgery robot system,in order to realize the human liberation,using intelligent machine,precise planning surgical procedures,improve the accuracy of risk reduction surgery robots to achieve goals.It is of great significance to design and develop a local surgical robot system with independent intellectual property rights.On the basis of summarizing the existing problems and combining with the specific operation process,this paper designs a set of surgical robot system,including propulsion device,operating device and positioning manipulator.Specific work and results are as follows:First of all,according to the comfort and manipulation habits of doctors,an operating device is designed and its performance parameters are calculated in detail.Study the master slave control operating system.This device USES magnetic powder brake to provide braking torque to realize force feedback function.Compared with motor to provide braking torque,it can avoid "handshaking" problem and improve safety and accuracy.Secondly,in view of the existing problems in the propulsion device,combined with the characteristics of surgery,a wire clamping rod structure is designed to accurately clamp the guide wire of the catheter and solve the disinfection problem.In order to realize axial feed and circumferential rotation of guide wire,a propulsion device driven by synchronous belt and friction wheel is designed in detail.The acquisition of force signal is realized by means of lever principle.Thirdly,a modular light mechanical arm is designed as the positioning mechanical arm,which adopts the direct drive of motor,has a simple structure and built-in torque sensor,and can be towed by human hands to the target position in its working space.Thenthe forward and backward kinematics calculation and workspace simulation are carried out.Then the static simulation is cattied out.Finally,the effects of the mass of the synchronous and the tensioning force belt on the dynamic characteristics of the propulsion device are studied,and it is found that the smaller the mass and the higher the tensioning force are,the better the performance of the propulsion device will be.ANSYS topological optimization was used to analyze and optimize the lightweight design of some parts to reduced the overall quality of the device,and the safety performance of key parts such as strength and stiffness was verified by simulation.The vibration of synchronous belt is analyzed,and the mode of the transmission system is analyzed.