Mechanism Design And Research Of An Integrated Minimally Invasive Surgical Robot

Closely connection with the requirements of the medical robot, taking minimally invasive surgery (MIS) robot as research objective, the dissertation briefly described the conceptual design, kinematics analysis and simulation, strength analysis of the key components, transmission system design and configuration design of a novel MIS robot, the research result has been employed for prototype development of the novel MIS robot. The following works have been accomplished.Firstly, according to the actual requirements of minimally invasive surgery, based on the analysis of the advantages and the disadvantages of existing MIS robot, the conception of integrated master-slave MIS robot and the design of a novel MIS robot are proposed. The design can effectively reduce the size of the robot; meet the portability and environmental requirements of MIS robot. In addition, the conceptual design of a multi-DOF robotic passive mechanism is proposed. The novel mechanism can make it easy to adjust the initial position and orientation of the novel MIS robot before operation.Secondly, the forward and the inverse kinematics are analyzed by D-H and vector method. Then the workspace is analyzed and the mathematical model of master-slave mapping is built. The kinematics analysis and flexibility of the mechanism are verified by simulation.Finally, based on conceptual design and strength analysis of the key components, configuration and transmission system design are accomplished. A variety of experiments is carried out and verifies that the comprehensive performance of the mechanism is good enough to perform a surgery.