腹腔镜机器人持镜手臂设计.pdf

摘要摘要作为现代机器人研究领域的重要分子,腹腔镜机器人是腹腔镜技术与机器人技术相结合的产物。腹腔镜机器人集腹腔镜手术、智能控制、人工智能、图像处理、信息处理等专业技术,跨越医学、自动控制、电子、机械、计算机等众多学科。腹腔镜机器人的应用研究在国内才刚刚起步,它有着巨大的发展潜力,许多新的问题都需要深入的研究。能够代替持镜手的机器人持镜系统是腹腔镜机器人系统最早的研究对象。本课题的主要工作就是完成腹腔镜机器人持镜手臂物理样机的初步设计制作,从腹腔镜持镜手臂的单个零部件到整机系统,循序渐进,逐步实现整个机器人系统的性能优化工作。参考了许多国内和国际文献,分析借鉴国外腹腔镜机器人系统,从而能够设计自己的腹腔镜持镜手臂系统实际方案,并给出了持镜手臂的物理样机和技术资料的详细设计工作。本文在对腹腔镜手术的全过程进行了全面分析的基础上,根据手术前、手术中、手术后的动作过程,提出了腹腔镜机器人持镜手臂的设计方案。并对持镜手臂进行数学建模,运动学、动力学分析,进而通过UG三维造型软件建立起持镜手臂的实体模型,建立腹腔镜机器人持镜手臂的虚拟样机。最后对物理样机详细结构的设计,进而完成了物理样机制作的详细技术资料。关键词:腹腔镜机器人动力学UG虚拟样机结构设计一. 山东大学硕仁学位论文 ABSTRACT As thefield ofmodem roboticsis an important molecule,laparoscopy and laparoscopicrobot is bining robot across puter,automatic control,mechanical,electronic,medical and othersubjects,set artificialintelligence,intelligentcontrol,laparoscopicsurgery,information processing, image processing and otherspecializedtechnology,and e animportant medical -held mirrorCanbereplaced by arobotsystem is amirrorheld the firstlaparoscopic robotsystem mainworkofthisproject is plete thelaparoscopicrobotic armholding mirrortheinitialphysical prototype design,from thelaparoscopic ponents heldmirror tothewhole system, stepby step,and gradually realizetheperformance oftheentirerobotsystem optimization. By referencetomany domestic andinternationalliterature,analysis ofshape from abroad laparoscopicrobot system,which made theline诵t11 theiractual conditions ofthelaparoscopic lenssystem designsupport,and gives themirror alTn holding alarge number ofvirtualsimulationandphysical dataDetailsoftheprototype designand technicalinformation. Inthispaper,the whole process oflaparoscopic surgery on acomprehensive analysis based on thepreoperative,intraoperative,post-operative course ofaction proposed laparoscopic robot arm holding mirror the ann ofthe mathematical modeling,sports science,dynamics analysis,and through UG 3 D imagesoftware锄of theestablishment of amodel :the sim