The Design And Research On Assistant Endoscope Surgical Robot

MIS (Minimally Invasive Surgery) is applied widely and developed quickly in the traditional surgical operation field with its little wound, less pain and quick recovery, so that medical society cost can be reduced. A representative of MIS, Endoscope MIS (EMIS) is a great change to the traditional surgical operation.Based on the robot technique's application and the function principle of operating tool in EMIS, assistant EMIS is designed. The main jobs are as follows:With the foundation of kinematics equation, its solution include reverse solution are analyzed, and the solution of dynamics simulation of joints are obtained.Based on Monte Carlo method, the 2-D workspace of robot is determined. The 3-D workspace addressed by enveloping boundary curves of each plane which are obtained by partitioning 3-D space into layers, are studied.The statics and the dynamics of the robot arm are studied by using Pro/MECHANICA, then the distortion and stress of the robot acted by statics force are gotten. By the mode analysis and dynamic time domain analysis, the danger working frequency, the acceleration, velocity and displacement of the robot arm are computed. Furthermore the influence of these to the security of surgery is analyzed.