Kinematics analysis and simulation of a series-parallel hybrid haptic handle for surgical simulator

摘要

With the increasing incidence of ophthalmic diseases and changes in the medical environment, virtual surgical simulation systems are receiving increasing attention in the training of doctors. Haptic handle is one of the main structures of virtual surgery simulator. Its configuration directly affects the stability, maneuverability and workspace of the simulator. In terms of the mechanical structure design of force feedback handle, this paper adopts the 4-branch 6-6-6-3 type 3RSS-RRR series-parallel hybrid mechanism, and applies the idea of Yang tingli building parallel platform to construct the overall configuration of the arm parallel mechanism. The improved D-H method is used to perform a kinematic analysis of the handle mechanism and the effective solution is obtained. Based on the analysis results, the working space of the haptic handle is simulated by Matlab, and the simulation results meet the demand.