| 腹腔微创手术机器人手术器械设计 |
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| 引用本文： | 邱雪芹,潘博,付宜利.腹腔微创手术机器人手术器械设计[J].黑龙江商学院学报,2014(1):69-74. |
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| 作者姓名： | 邱雪芹 潘博 付宜利 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨150001 |
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| 基金项目： | 国家863项目（2012AA041601）. |
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| 摘 要： | 为提高腹腔微创手术器械的灵活性，设计一种具有四个自由度腹腔微创手术机器人用手术器械。器械采用钢丝进行传动，能够实现在手术过程中快速更换不同的手术器械。在器械结构设计的基础上对关键部件进行受力分析，并对器械进行运动学分析。通过仿真实验来验证结构设计和运动学分析的正确性和有效性。
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| 关 键 词： | 微创外科手术 机器人 手术器械 仿真实验 |
Design of minimally invasive surgery robotic instrument |
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| QIU Xue-qin,PAN Bo,FU Yi-li.Design of minimally invasive surgery robotic instrument[J].Journal of Harbin Commercial University(Natural Sciences Edition),2014(1):69-74. |
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| Authors: | QIU Xue-qin PAN Bo FU Yi-li |
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| Institution: | (Robotics Institute, Harbin Institute of Technology, Harbin 150001, China) |
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| Abstract: | A 4-DOF instrument for minimally invasive surgery which was a wire rope instru-ment was designed to obtain higher flexibility .The instrument for robot can be rapid replaced during the minimally invasive surgery .The forces on the instrument were analyzed and simu-lated.The forward kinematics and inverse kinematics analysis of the instrument was verified by Matlab and ADAMS model . |
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| Keywords: | MIS robot instrument simulation experiment |
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