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为满足微创手术对微器械结构尺寸、运动灵活性以及工作空间等方面的要求,设计了一种由钢丝驱动的模块化关节.通过对该关节运动特性及拓扑方式的研究,提出了一种采用模块关节配置器械腕部自由度的微器械设计方法.为验证该设计方法的可行性,研制了腕部包含4个单元关节的微创手术分离钳,并建立了统一的手术微器械运动学模型.测试实验证明,该分离钳腕部具有很好的灵活性,能够满足微创手术操作对器械运动范围及空间灵活性的要求.
In order to meet the requirement of micro-invasive surgery on the dimensions, movement flexibility and working space of micro-instrument, a kind of modular joint driven by wire was designed.Through the study of the joint’s movement characteristics and topology, a In order to verify the feasibility of this design method, a minimally invasive surgical forceps with 4 unit joints in the wrist was developed and a unified surgical micro-instrument kinematics Model.Experimental results show that the wrist of the separation clamp has good flexibility and can meet the requirements of minimally invasive surgical operation on the scope of equipment movement and space flexibility.