用于显微手术操作的机器人系统的体系结构分析

分析了两种主要的显微手术特性．然后,针对显微手术操作对机器人的需求,对用于显微手术操作的机器人系统的结构组成、工作方式和控制系统设计作了分析．通过分析一些研究实例,总结出设计显微手术机器人的规律性结果．     

显微外科手术机器人手指系统的研究与开发

显微外科手术机器人手指系统是在显微外科手术机器人（妙手系统）的研制过程中,针对手术的自身特点及操作要求而自主开发的．该手指系统体积小、重量轻、夹持力大、机构精简、可靠性高,可以准确实现工具的旋转与开合,能够迅速地更换末端手术工具．通过一系列的试验测试及动物试验的研究,结果表明该手指系统的设计是成功的,能够满足显微外科手术的操作要求．     

经尿道手术机器人研究进展及关键技术分析

经尿道手术由于尿道解剖结构狭窄、内窥镜视野狭小,对医生的技术和经验要求较高,且术后并发症较多,亟需融合机器人技术提高手术质量、减少并发症、缩短医生学习曲线时间．为促进我国经尿道手术机器人的研究和发展,综述了国内外经尿道手术机器人研究现状,并分析了典型的经尿道手术操作,对经尿道手术机器人所涉及的机器人机构设计、力反馈技术、精密运动控制以及手术导航等关键技术进行了详尽的分析．在总结研究成果和分析关键技术的基础上,指出经尿道手术机器人今后的发展趋势和面临的挑战．     

具有虚拟力觉导引功能的机器人网络遥操作系统

为实现机器人网络遥操作系统中从端机器人和被抓取目标接触前的力觉感知效果,提出了具有虚拟力 觉导引功能的机器人网络遥操作系统控制方法．利用单目视觉技术获得末端执行器相对于被抓取目标的位姿信息, 并将此信息转换为操作者相对敏感的力反馈信息,引导操作者为远端机器人系统提供合适的控制命令,控制机器人 达到期望的位姿．利用手腕相机和人工目标搭建了演示实验系统,并分别进行了机器人位置和姿态遥操作控制实 验．实验结果表明,机器人遥操作系统的可操作性和操作效率有了明显提高．     

机器人在眼科手术中的应用及研究进展

首先分析了典型的眼科手术操作,提出了眼科机器人设计的一般要求.然后,从机器人系统和手术器械两方面出发,介绍了国内外眼科机器人的研究进展.最后,总结了当前眼科机器人系统的关键技术,包括眼组织生物力学分析、机构设计、多维信息传感以及精密运动控制技术,并分析了发展趋势.     

基于PLC的神经外科机器人控制系统研究

结合医疗外科机器人的应用环境,在比较不同外科机器人控制系统的特点的基础上,提出了基于PLC的神经外科机器人控制系统的设计方法．根据系统需要完成的任务特点,确定了硬件构架和软件体系．分析了控制系统涉及的几个关键问题,根据临床手术的需求,详细讨论了系统实施的安全策略、提高系统定位精度的措施以及不能采用示教编程控制方式的原因．经过多例临床实验,验证该机器人操作方便、性能稳定,可以弥补医疗机器人系统安全性不高、手术效率低、维护难度大、成本高等缺陷．     

主被动混合式微创手术机械臂机构设计及灵巧度优化

研制出一款可开展微创手术的双机械臂机器人系统,该系统配合手术微器械可以实现精确的腹腔内手术操作.通过分析微创手术的手术环境及手术操作特点,提出了采用机器人开展微创手术对机器人自身机构设计的基本要求,并在此基础上重点对机械臂机构进行设计和优化.该机械臂可以按照微创手术的实际需求,实现机器人的术前摆位、术中器械操作及器械的快速拆装更换,并且可以从机构上保证术中器械在患者腹壁切口处位置不变,避免术中因手术器械运动而对腹壁切口造成非手术性损伤.此外,借助于机器人雅可比矩阵的奇异值,构造了基于条件数和可操作度的综合灵巧度评价指标函数,并采用序列二次规划算法对机械臂杆件参数进行优化.优化结果表明,机械臂具有良好的各向同性及可操作度,很好地满足了微创手术对机械臂机构灵活性的要求.     

基于核磁图像导航的前列腺针刺手术机器人

在对核磁共振图像(MRI)导航手术机器人设计需求进行分析的基础上,设计出一套可用于完成经会阴前列腺近距离粒子放射治疗手术的机器人系统.该系统具有5个自由度,通过核磁兼容气缸和超声波电机混合驱动,自主实现针体位姿调整和针刺操作.根据机器人系统动力学分析进行了驱动气缸选型.最后通过核磁兼容性实验和针刺精度实验,验证该机器人系统能够满足核磁兼容性要求,针刺精度为0.91mm.     

腹腔镜机器人控制系统的设计及实现

根据机器人辅助微创手术任务的特点设计了腹腔镜机器人控制系统．研究了基于运动控制卡的 开放式机器人控制器结构,设计了机器人伺服系统及相应控制器硬件接口,采用面向对象的技术和模块化思 想开发了系统控制软件,应用灵活度和可操作度概念建立了腹腔镜机器人的手术规划和控制平台．通过调试 伺服参数提高了系统控制性能．实验表明,该腹腔镜机器人控制系统具有稳定性、高可靠性和多任务适应性, 满足微创手术需求．     

视网膜血管搭桥手术机器人系统的研究

针对医生人工操作的生理学颤抖造成视网膜血管搭桥手术成功率低的问题,提出了用于辅助医生进行手术操作的机器人系统.在借鉴眼科显微手术机器人系统研究经验的基础上,基于视网膜血管搭桥手术的过程和特点,提出了合理的机器人系统整体设计方案,介绍了机器人的关键机构设计.对临床应用进行了初步探讨,确定了视网膜血管搭桥手术机器人系统的人机协同操作手术流程,提出了手术环境布置方案.最后,在开发研制原理样机的基础上列出了机器人性能指标,对视网膜表面平行运动进行了轨迹规划和仿真,在乒乓球模型上进行了可行性分析实验,并提出了安全保障措施.实验表明,系统设计满足要求,可以初步完成手术动作.     

The kinematic analyses of the 3-DOF parallel machine tools

A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.     

Design and analysis of an fMRI compatible haptic robot

Magnetic resonance (MR) compatible haptic devices have certain specific structural and operational properties, which are due to the magnetic field, and haptic requirements. Through the development of a haptic mechanism, which is compatible with a magnetic resonance environment, certain problems were solved, which are common to all robotic devices operating in an MR tunnel. This paper deals with the manipulability problem of a novel 3 DOF MR compatible haptic mechanism, considering limited space and its visualisation. An appropriate 3D visualisation method has been developed for analysing the manipulability characteristics of a haptic mechanism within an MR environment. Choosing a suitable driving system is one of the crucial design attributes for quality force transmission in haptic interfaces. This paper introduces certain adaptations, which have been done to enable the MR compatibility of a cable drive driven by an electric motor. It also presents the theoretical modelling of a cable drive for a 3 DOF MR compatible haptic mechanism, focusing on the hysteretic behaviour of polymeric cables.     

电动力液压驱动四足双臂机器人的设计与实现

针对定基座机器人在复杂环境下作业能力不足的问题,研制出电动力液压四足双臂机器人,将浮动基座与双臂系统的优势有机结合,能够代替人员完成复杂环境下应急处置、工程作业等任务。详细阐述了四足双臂机器人的机械结构、机载电液动力系统、分布式控制系统以及仿真与操作训练平台的设计与实现。提出基于全身虚拟模型的足底力分配方法与足臂协调运动规划方法,实现了躯干浮动基座与双臂系统的联动,大大提升了机器人的作业能力和效率。通过搭建的仿真与操作训练平台完成单臂作业以及双臂协同作业的仿真,验证了所提出控制方法的有效性,并对机器人操作员进行操作训练。在实际样机实验中,测试了单臂抓取以及双臂协同抓取的能力,证明了四足双臂机器人能够满足复杂环境下移动作业的需求。     

“妙手”系统机械结构设计与优化

为了辅助医生更好地完成显微外科手术,开发了一种主从异构的显微外科手术机器人系统——“妙手”系统．“妙手”系统的主手为商业化的Phantom Desktop主手,从手为针对显微外科血管缝合而设计的“妙手”从手．从手包括位置机构和姿态机构．位置机构通过丝传动实现双四连杆机构的运动特性;姿态机构采用三轴交汇于一点的设计思想．通过分析双四连杆机构的运动特性,根据Angeles运动灵活度指标对双四连杆机构进行了优化．结果表明：当双四连杆机构前三级杆等长且I级杆与III级杆垂直时,机构运动灵活度取最大值．     

Development of a single-master multi-slave tele-micromanipulation system

This paper proposes the development of a human–robot cooperative tele-micromanipulation system through a network. We have developed a novel single-master (PHANToM haptic device) multi-slave (6-d.o.f. parallel manipulator) scaled tele-micromanipulation system which enables human operators to perform meso or small-size object manipulation such as assembly or manufacturing with sufficient telepresence. It is expected to improve the human's operability and the overall dexterity of conventional tele-micromanipulation systems. To overcome the problems of the multiple parallel mechanism manipulator, virtual kinematic mapping is considered, based on the manipulability analysis of the workspace. The pick-and-place experiment results prove the validity of the developed single-master multi-slave system.     

Kinematics of mobile manipulators and implications for design

A systematic, unified kinematic analysis for manipulator arms mounted to mobile platforms is presented. The differential kinematics for the composite system is used, along with an extended definition of manipulability, to generate a design tool for this class of systems. An example is presented in which a 3 DOF anthropomorphic manipulator is mounted on a platform powered by two independent drive wheels. Scaled manipulability ellipses are used to visualize the effect of manipulator mounting position on the overall mobility of the system. Given information about the intended tasks of the mobile manipulator, conclusions may be drawn as to the most appropriate mounting site. For the tasks which motivated this research, automated highway construction and maintenance, it was concluded that the manipulator base should be near the axles of the drive wheels and far from the centerline of the platform. © 2000 John Wiley & Sons, Inc.     

Mobile Arm for Disabled People Assistance Manipulability Measure for Redundancy Solve

The addition of a mobile platform to a 6-DOF arm raises the question of the exploitation of redundancy with respect to needs. The application field concerns assistive robotics for object manipulation tasks. Works deal with the utilisability of a mobile arm, which is a complex system, by a disabled person with reduced motor and perception abilities. In this paper, we present the influence of mobility on manipulability measure. Manipulability is a well-established tool for motion analysis which we use as criterion in control scheme to improve the coordination of two subsystems. We propose a normalized measure to solve problems inherent to the use of different physical units and velocity limits for both components of the system, arm and mobile platform. Simulation results for a 3D positioning task are given to show the effect of nonholonomic constraint on manipulability measure.     

冗余度机器人基于任务的方向可操作度研究

分析了机器人传统可操作度概念在实际应用中的不妥之处,定义了基于任务的方向 可操作度,给出了其解析表达式,并利用方向可操作度作为目标函数进行冗余度机器人的运 动学优化．仿真结果表明,同传统的可操作度相比,基于任务的方向可操作度更具有实际应 用意义．     

3-d.o.f. Wire Driven Planar Haptic Interface

A 4-wire driven 3-d.o.f. planar haptic device, called the Feriba-3, is described. The particular geometric configuration of the end-effector ensures a closed form kinematic pose solution and good manipulability. Moreover, the structural arrangement adopted makes the Feriba-3 a well-performing haptic device, whose major features are low inertia, low friction, and full dexterity in a large workspace. The manipulability analysis has been performed by introducing a complete set of manipulability indices.