Design And Implementation Of A New Platform For Celiac Minimally Invasive Surgery

The minimally invasive surgery has a lot of advantages,such as the time of recovery is short and less side effects.It overcomes many shortcomings.However,there are still some problems to be solved,such as poor hand eye coordination and easy fatigue.The application of robot technology has overcome many difficulties.It perfectly improves the accuracy and flexibility of surgery,so it is widely studied and used.Abdominal minimally invasive surgery breaks the original form.In the form of masterslave operation,the doctor observes the focus through the image of the endoscope system,and operates the master hand through the console to control the slave hand,which avoids the jitter caused by long-time operation,reduces the work intensity of doctors and assistants,and increases the operation accuracy.Therefore,with the project support,a new abdominal minimally invasive surgery platform has been developed.And do some experiments on the platform.Analyze the characteristics and requirements of minimally invasive surgery,summarize the functions required by the system,and develop a new abdominal minimally invasive surgery platform through the analysis and design of common surgical systems.The platform adopts multiple mechanical arms with the same structure,which are evenly distributed on both sides of the operating table.A single mechanical arm adopts a new configuration.The support arm and telecentric mechanism are respectively designed in the form of circular arc,and their circular centers coincide.Combined with the overall rotation of telecentric mechanism,the overall configuration is finally obtained,the form of motion joints of telecentric mechanism is refined,and the reasonable layout makes the end workspace more redone.For the motor parameters of each active joint of the whole manipulator,calculate and select the motor of the appropriate model one by one,and optimize the design by using the quadratic programming algorithm software lingo according to the size parameters of the support arm of the manipulator.According to the determined structural form,the motion space of the end instrument is analyzed through the establishment of the coordinate system.On this basis,ANSYS is used to analyze and check the strength of key components through static simulation to determine the rationality of part design.After completing the overall design task,the coordinate system conforming to the structure of the platform is established and do analysis by D-H method.And solve the platform by matrix operation.And design control mode according to actual conditions.After completing the analysis of key components and checking their strength,start the processing,assembly and commissioning of abdominal minimally invasive surgery platform,draw drawings,factory processing,separate assembly and commissioning of each part and overall assembly and commissioning of each part of the above platform.Experiment after debugging,and the specific experimental needle is set for stroke,precision,fine operation and so on.Under the application of binocular camera,the error of telecentric mechanism,the actual size of stroke and the trend of master-slave follow are collected and verified.Through experimental verification to verify whether the designed abdominal minimally invasive surgery platform can meet the functional requirements in terms of stroke,accuracy,master-slave follow-up accuracy,fine operation and so on.