面向机器人微创手术的新型遥控柔性机器人
李峥 , Jan Feiling , 任洪亮 , Haoyong Yu
工程（英文） ›› 2015, Vol. 1 ›› Issue (1) : 73 -78.
面向机器人微创手术的新型遥控柔性机器人
李峥 , Jan Feiling , 任洪亮 , Haoyong Yu
工程（英文） ›› 2015, Vol. 1 ›› Issue (1) : 73 -78.
面向机器人微创手术的新型遥控柔性机器人
A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery
本文介绍了基于约束型蛇形拉线机构（CTSM）的新型柔性机器人系统。与达芬奇外科手术机器人和传统柔性机器人相比，基于CTSM的机器人具有更大的工作空间，更高的灵巧度以及刚度可控的优点。该机器人采用Novint Falcon触觉设备进行远程操控， 包括两种操作模式——直接映射模式和增量模式。在每一种模式下，该机器人都可以采用'最大刚度'方案或'最小运动'方案来操控。CTSM的以上优点在仿真模拟和实验中均得以验证。
In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.
外科手术机器人 / 柔性机械臂 / 拉线机构 / 机器人微创手术
surgical robot / flexible manipulator / tendon-driven / minimally invasive robotic surgery
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