Study And Development On The Robotic Assistant Microsurgery System

Centered on the special topic of the study and development of the Robotic Assistant Microsurgery System, the technical criteria, workspace, the matching map of kinematics, the design of the simple model and the experiment are fully and systematically analyzed and studied, obtaining some valuable outcomes of theoretical and practical significance.Based on the basal manipulation and spatial arrangement of the microsurgery, dovetailed the vein during microsurgery manipulation as practical application object, the action of the doctor is recorded and quantified analyzed. What's more, based on the descriptive geometry and the data of the microsurgery manipulation, and based on the relevant knowledge of ergonomics, the mission requirement and the technical criteria of the RAMS are ascertained. Furthermore, ascertained the simple model as Cartesian Type corresponding Joint Type as isomeric type, then got the workspace of the slave and master using graphology, and finally made emulation of the workspace.Aimed at the matching map of kinematics, Denavit-Hartenberg theory and on-off control are adopted, then the problems of the slave-master isomeric type and the coupling of the master are solved. At the same time, the equations of kinematics of the slave and master are formed, and the requirements of the parameters of the slave are obtained, using the method of contra-kinematics.Made thorough study of design about the simple model, aimed at structural design, basic action, selection of the motor and others, the relative merits, discuss is made. The most important is that some problems during the debugging course is found and solved.To validate the theoretical analysis, the experiments on RAMS are made. What's more, the stitching of the 1mm vein of the rabbit is successfully made.