SIA OpenIR  > 机器人学研究室
Alternative TitleMotion Decoupling Method for a Single-Port Surgical Robot with Joint Linkage
江国豪1,2,3,4; 周圆圆1,2,3,4; 张芳敏1,2,4; 王重阳1,2,4; 于涛1,2,4; 刘浩1,2,4
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20203309036489
Contribution Rank1
Funding Organization国家重点研发计划(2017YFC0110902) ; 国家自然科学基金(61873257) ; 沈阳市“双百工程”重大科技成果转化项目(Z19-4-009) ; 机器人与智能制造创新研究院自主课题(C2018002)
Keyword关节联动 运动解耦 手术机器人 工作空间灵活度 运动学分析


Other Abstract

Aiming at the strong motion coupling of the execution instruments of the single-port laparoscopy (SPL) surgical robot from the driving space to the operating space, the joint linkage configuration is studied to realize the motion decoupling and simplify the kinematics model. Firstly, the motion characteristics of the linkage configuration are analyzed and a roller constrained articulated joint is designed. Subsequently, a 7-DOF (degree of freedom) instrument with linkage configuration is developed, and it can implement 2-DOF “linked deployment”. The D-H (Denavit-Hartenberg) model is established to analyze the posture separation of the linkage configuration device, and the inverse kinematics is directly solved by the analytical method. Then, the flexibility of the end of the surgical instrument at a given point is measured based on the solid angle, and the joint arrangement of the distal segment of the linkage configuration instrument is optimized. Finally, the experiment shows that the posture of the end of the linkage configuration instrument depends only on the distal joint, and the “linked deployment” only changes the position of the instrument end. The maximum error from the driving space to the joint space is less than 3◦, and the drives of the proximal and distal sections don’t interfere with each other.

Citation statistics
Document Type期刊论文
Corresponding Author刘浩
Recommended Citation
GB/T 7714
江国豪,周圆圆,张芳敏,等. 关节联动的单孔手术机器人运动解耦方法[J]. 机器人,2020,42(4):469-476.
APA 江国豪,周圆圆,张芳敏,王重阳,于涛,&刘浩.(2020).关节联动的单孔手术机器人运动解耦方法.机器人,42(4),469-476.
MLA 江国豪,et al."关节联动的单孔手术机器人运动解耦方法".机器人 42.4(2020):469-476.
Files in This Item:
File Name/Size DocType Version Access License
关节联动的单孔手术机器人运动解耦方法.p(1656KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[江国豪]'s Articles
[周圆圆]'s Articles
[张芳敏]'s Articles
Baidu academic
Similar articles in Baidu academic
[江国豪]'s Articles
[周圆圆]'s Articles
[张芳敏]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[江国豪]'s Articles
[周圆圆]'s Articles
[张芳敏]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 关节联动的单孔手术机器人运动解耦方法.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.