一种用于触觉远程手术系统力反馈主机器人的新型运动远程中心机构。
A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.
作者信息
Hadavand Mostafa, Mirbagheri Alireza, Behzadipour Saeed, Farahmand Farzam
机构信息
Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran; Robotic Surgery Lab., Research Centre of Biomedical Technology and Robotics, Tehran University of Medical Sciences, Tehran, Iran.
出版信息
Int J Med Robot. 2014 Jun;10(2):129-39. doi: 10.1002/rcs.1515. Epub 2013 Jun 4.
BACKGROUND
An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia.
METHOD
A novel 4 + 1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests.
RESULTS
With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints.
CONCLUSIONS
The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications.
背景
对于触觉远程手术应用而言，一个有效的主机器人除了需要具备足够的工作空间和可操作性，以及最小的运动惯性外，还需要为手术工具的反向运动提供解决方案。
方法
基于一个三重平行四边形连杆机构，提出了一种新颖的4 + 1自由度机构，该机构在用户手背部提供了一个运动远程中心（RCM）。对该机器人的运动学进行了分析，并制作了一个原型，通过实验测试进行了评估。
结果
由于致动器远离末端执行器，且在手背部设有RCM，该机器人能够以最小的运动惯性产生手内手术的感觉。在可接受的可操作性下实现了目标工作空间。轨迹跟踪实验显示，由于关节处的间隙，误差较小。
结论
所提出的机构满足了用于触觉远程手术应用的有效主机器人的基本要求。
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