Study And Development On The Microgripper System Of The Microsurgery Robot

Based on the design and development of the microsurgery robot system, the structure design of tactile finger system and no tactile finger system, mini-force sensor and experiments is analyzed and researched in a comprehensive and systematic way. Some achievements have been achieved, which brings theoretical value and practical significance. According the requirements in the microsurgery operation of needing no tactile, the design of no tactile finger system is finished. This system is used in the situation, in which tactile inspecting is not needed. The characters of it are concise structure, mini volume, high reliability and big grasping force.The tactile finger system in the operation is to grasp vessel ectoblastic or operation device, such as suturing needle, to inspect and modify the grasping force and exchange the end device, such as operation scissor or operation sword to achieve the operation of snipping and cutting, to rotate along its axis assisting 6 DOF motion of the robot and to keep the grasping force within 0-100gf and the rotation angle within 360°. The design of tactile finger system is accomplished according to above function requirements. The drive style of finger, two spring mechanism to modify the grasping force, the design of spring, the selection of micro-motor and the detailed finger system are discussed at length.The grasping force range is determined by the former work of the microsurgery operation. The main characters of sensor are high sensitivity and good resolution. The other characters are mini volume and concise structure. According to above, the mini force sensor is designed and the rationality of different way of choosing force element is evaluated, metal strain sheet, pressing-electricity element, pressing-resistance element and practical experiment result.The experiments of motion and force in the finger system of the microsurgery system are done to testify rationality of the theoretical analysis and design. The experiment of suturing the 1mm vessel of a rabbit's leg is successfully accomplished.