Kinematics analysis and Simulation of the laryngeal minimally invasive operation continuum mechanism

摘要

In view of the influence of factors such as the small throat operation space and influence factors such as fibrillation in the process of operation, this paper put forward the design scheme of the continuum mechanism which is divided into two modules as the body part and end actuator mechanism, presenting the design method of continuum body part and the end effector. This paper designed the universal-drive-bending mechanism institutions, six-joint-bending section, four-joint-bending section of institutions, establishing of the virtual prototype of continuum mechanism, bringing about virtual assembly. Based on the software of ADAMS, this paper set up the universal-drive-bending mechanism and the end of the actuator kinematics model. The results of numerical simulation show that, universal-drive mechanism can solve the problem of bending deformation of end actuator mechanism with better motion compensation, which provides technical support to the realization of accurately positioning and accurate control.