一种六自由度丝传动微创手术器械的设计

摘要

In order to meet the motion flexibility and workspace requirements of a minimally invasive surgical instrument,this paper designed a 6-DOF cable-driven minimally invasive surgical instrument.The six degrees of freedom include yaw degree of freedom of shoulder,pitch degree of freedom of elbow,pitch degree of freedom of wrist,roll degree of freedom,yaw degree of freedom of finger and the fingers' opening & closing degree of freedom.The quick-exchange finger was also designed at the finger part of the surgical instrument,which could effectively save time for replacing a surgical instrument during surgery and reducing the cost of surgery.With the surgical instrument's structural design,kinematics analysis and workspace analysis of the surgical instrument were performed.Finally,the kinematics simulations were carried out to verify the structure's rationality and kinematics' validity of the surgical instrument by comparing the end-effector trajectory analysis results obtained with MATLAB calculation and SolidWorks simulation in a 3-dimensional space.%为了更好地满足微创手术器械对运动灵活性和工作空间的要求,设计了一种六自由度丝传动微创手术器械.此手术器械的6个自由度包括:肩关节偏转自由度、肘关节俯仰自由度、腕关节俯仰自由度、自转自由度、指关节偏转自由度和手指的开合自由度.本微创手术器械在手指部分设计了快换手指,可以有效的节约在手术过程中更换手术器械的时间,同时减少了手术器械的成本.在手术器械结构设计的基础上对手术器械进行了运动学和工作空间分析.最后进行了运动学仿真,通过比较SolidWorks仿真和MATLAB运算中得到的三维空间手术器械末端运动轨迹,验证了手术器械结构的合理性和运动学的正确性.