具有縫合功能的喉部微創(chuàng)手術機器人系統(tǒng)設計及實現.pdf

1、洲川㈣㈣㈣㈣Y1531814具有縫合功能的喉部微創(chuàng)手術機器人系統(tǒng)設計及實現DesignandImplementationofLaryngealMinimallyInvasiveSurgeryRobotSystemwithSuturingAbility博士學位論文一級學科：扭越王捏學科專業(yè)：擔撼魚王王捏研究生：工盎昱指導教師：王撾塹塾握天津大學機械工程學院2008年1月ABSTRACTInlaryngealminimallyinvasiv

2、esurgery(LMIS)，thesurgeonemployedthelonglaryngealtoolsthroughconstrainedmrpathtoimplementthewholetherapyDuetOtherestrictionofthesuspendedLaryngeal’Sspace，thecurrenttherapycallnotimplementcomplexoperationThisdissertationd

3、esignedanovel7dofLMISrobotsystemTheLMISrobotworkedinteleoperationmodeandcontrolledbythesurgeonthrougharemotemastermanipulatordeviceWiththedexterousendeffectors，theLMISrobotcanimplementsuturingassignmentunderconstrainedsp

4、aceThepaperfocusedontheLMISrobotsystemdesignandimplementationandmadethefollowingcontributions1AnovelmechanismwasdesignedforLMISrobotTheLMISrobotWasseparatedasendeffectorsactiveplatformandpassivealTOthreepartsInordertosim

5、plifyitsmechanismtheendeffectors’redundantjointcoincidedwithopen—closejoint；the“SimilarCrankSlider’mechanismallowedtheendeffectorspossessedenoughgrippingforceTheactiveplatformemployedaremotecentermechanismtoguaranteethes

6、afetyofthetrocar；meanwhileitcallincreasetheregisterprecisionbetweenrobotandimagebyattachingthemtogetherThepassivealnldesignedwithgravitycompensationfeaturewhichallowedsurgeoneasilypositiontherobotinspace2Anonlinealgorith

7、mwaspresentedtOsolvetheredundantLMISrobotinversekinematicsproblemByperturbingend—effectorsyawjointwithsmalldisplacement，thealgorithmfirstlygeneratedmultiredundantinversekinematicssolutionsAndthenrankedallthesolutionsfoll

8、owedbymultipleredundantoptimizationcriteria(ROC)ExceptforemployingtheexistingROC，onenovelROCfollowedthesuspendedLaryngeal’SspacerestrictioncharacteristicWasintroducedThenovelROCCanmakeuseoftheendeffectorsredundantjointtO

9、avoidthecollisionbetweentoolsandsuspendedlarynscopy，whichguarantiedtherobotimplementthesuturingassignmentinconstrainedspace3TheverificationoftheLMISrobot’ScapabilityofsuturinginconstrainedspaceBasedonanopensourcetoolkit，