神经外科手术机器人灵活性分析.pdf

神经外科手术机器人灵活性分析
邢宏光王利红
(北京航空航天大学机械工程及自动化学院, 北京 100083)(郑州航空工业管理学院机电工程系, 郑州 450015)
张玉茹
(北京航空航天大学机械工程及自动化学院, 北京 100083)
摘要:开发了用于神经外科手术的五自由度机器人 BH600。从神经外科立体定向手术的需
求出发,分析了该机器人的灵活性。用服务球和服务区概念给出了五自由度机器人工作空间任意点
的灵活度定义,提出了工作空间灵活性的分析方法。通过数值计算和图形显示给出了工作空间的灵
活度分布,采用机器人物理样机进行实验,对分析结果进行了验证。掌握灵活度的空间分布,可以
为手术路径规划提供可靠的依据。
关键词:机器人;运动学;医疗机器人系统;灵活工作空间
中图分类号:TP 206+.1
文献标识码:A 文章编号:1001-5965(2004)04- -

Dexterity analysis of robot for neurosurgery
Xing Hongguang
(School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China)
Wang Lihong
(Department of mechanical-electrical engineering, ZhengZhou Institute of Aeronautical Industry Management,Zhengzhou, 450015, China)
Zhang Yuru
(School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China)

Abstract:Minimal invasive surgery assisted robot was developed in Robotics Institute in Beijing
University of Aeronautics and Astronautics. Based on the requirement of neurological stereotactic surgery,
dexterity of the robot was analyzed. Firstly, using concept of service sphere and service section, definition of
dexterity was proposed at any point inside the workspace of the five degree-of-freedom robot; then, analysis
method of workspace dexterity was proposed. Dexterity distr