Design And Research Of A New Minimally Invasive Surgical Robot From The Hand

Slave manipulator is one of the core components in the minimally invasive surgical robotic system.Its mechanical structure design directly affects the performance of minimally invasive surgery robot.According to the actual work requirements of minimally invasive surgery,the design process of a novel slave manipulator for minimally invasive surgical robot was described in this thesis.The structure design,kinematic analysis,mechanism performance optimization,experimental platform construction and experimental verification of the slave manipulator were carried out.Firstly,based on a detailed study of the slave manipulator structure of existing minimally invasive surgical robots,combined with the requirements of minimally invasive surgery,a new type of steel belt driven remote center mechanism based on the principle of double parallelograms was designed.This mechanism overcomes the shortcomings of the double parallelogram mechanism,such as large volume and small working space.It reduces the volume of the robot and expands the working space at the same time.Solid Works software was used to design a detailed 3D model of the whole slave manipulator mechanism.Secondly,the forward kinematic model of the slave manipulator was calculated by using the screw theory,and the inverse kinematic model was calculated by using the analytical method.The correctness of the forward and inverse kinematic models of the slave manipulator was verified by the software simulation analysis.The Jacobian matrix of the slave manipulator was derived,which laid the foundation for the performance optimization of slave manipulator structure.In addition,the workspace of the robot was analyzed,which verified that the workspace of the robot slave manipulator could meet the requirements of minimally invasive surgeryThen,based on the kinematic analysis of the slave manipulator of the minimally invasive surgical robot,combined with Jacobian matrix,a comprehensive evaluation index function based on the global operability and performance consistency was constructed.According to the limit position of the workspace and the actual needs of minimally invasive surgery,the geometric constraints of the optimization parameters were determined,and the genetic algorithm was used to optimize the link size parameters of the slave manipulator.The strength and rigidity of the key parts of theoptimized slave manipulator were checked by using the finite element analysis software,which proved that it could meet the requirements of minimally invasive operation and achieve the purpose of optimization.Finally,the experimental platform was built in accordance with the actual requirements of minimally invasive surgery.The experimental platform was built with full consideration of the real-time,security and scalability of the system.The experiments of workspace,remote center movement and joint power-off braking were performed,which proved that the slave manipulator prototype of the minimally invasive surgical robot had good performance and high security,which could meet the actual operation requirements of minimally invasive surgery.