Design Of An Abdominal Minimally Invasive Surgery Robot With Overlap-Type Joints

In recent years,robotics has been developing very quickly and it has been used in the field of industry,military,medical treatment and entertainment business.Now,medical surgical robot technology is attracting increasing attention in the field of robot technology.The impact of minimally invasive surgery to traditional surgery is revolutionary.Minimally invasive surgery has the advantage of small incision,less bleeding and pain,and quick recovery.So,in the future,minimally invasive surgery will play more and more important role.This paper describes a design of an abdominal minimally invasive surgery robot with overlap-type joints.This paper records an elaborate research on abdominal minimally invasive surgery robot.The main works are as follows:Accomplished structural design of the robot and detailed description of every major part of the robot was given.Accomplished the kinematic analysis of the multi-joint robot.In addition,the work space of the robot was calculated.The control platform of the minimally invasive surgery robot was built.And some important components of the platform were introduced.The motion control algorithm was designed and simulation analysis was performed with the help of Matlab.Experiments were performed to verify the rationality of the design plan.According to the result of mathematical analysis and experiments,the design plan is feasible and the robot meets the requirements of abdominal surgery.