[优秀论文]多自由度微创手术机械从手的设计与研究.pdf

上海交通大学
硕士学位论文
多自由度微创手术机械从手的设计与研究
姓名:赵志球
申请学位级别:硕士
专业:材料加工工程
指导教师:谢叻
20100101
上海交通大学硕士学位论文摘要
多自由度微创手术机械从手的设计与研究

摘要
微创手术(Minimally Invasive Surgery)技术使得手术创伤减小,减
轻病人的痛苦,减少不美观的手术疤痕,大幅缩短住院天数,节省开支。
目前,微创手术已成为是 21 世纪医学发展的重要方向之一。手术机器人
促进了传统医学的革命,受到西方大国政府和学术界的极大关注。
本文首先深入研究了手术机器人系统的实现原理和一般构成,讨论
了其关键技术。然后针对微创手术的应用特点,研制了一套微创手术机
械从手装置,系统阐述了装置整体设计方案的确定、各模块的功能、驱
动执行元件和传感器等的选型、机械结构的设计和制造等。选定线传动
作为机械从手的传动方式,给出了机械从手的连杆参数和运动学方程。
装置的测试验证了装置的可行性。针对研制中出现的问题,提出了改进
建议。
本文还针对弥漫性轴索损伤的形成机理,研制了大鼠致伤实验装置,
并重点讨论了关键技术。通过大鼠实验,验证了实验装置的可行性和稳
定性。另外,针对股骨远端骨折复位手术中存在的问题,三维重建了股
骨和手术器械并制定了虚拟手术。
关键词:手术机器人,机械从手,微创手术,弥漫性轴索损伤,虚拟手术
I
上海交通大学硕士学位论文 ABSTRACT
DESIGN AND RESEARCH OF SLAVE MANIPULATOR WITH
MUTI-DOFS IN MINIMALLY INVASIVE SURGERY

ABSTRACT
Minimally Invasive Surgery (MIS) technology reduces trauma to alleviate
the suffering of the patient, reducing scars which are not pretty, and shorten
the length of stay in the hospital, saving cost. At present, minimally invasive
surgery has e one of the most important direction for the development
of medicine. The surgical robot promotes the revolution of the traditional
medicine, and received great attention from the governments and academic
cycles in the western countries.
In this paper, the principle and position of the surgical robot
system have been studied, and its key technologies have been discussed first.
In accordance with the characteristics of the MIS’s application, a slave
manipulator with 7 DOFs in MIS has been designed. It also systematically
discusses the overall design scheme of the manipulator, the function of all its
modules, the selection of the driving elements and sensors, and the design and
II
上海交通大学硕士学位论文 ABSTRACT
manufacture of the mechanical structure. The verification of the manipulator
is done by a test. The suggestions for the improvement of the manipulator
also are done after the design, manufacture and test.
In order to study the formation