腹腔微创手术机器人手术器械设计

摘要

为提高腹腔微创手术器械的灵活性，设计一种具有四个自由度腹腔微创手术机器人用手术器械。器械采用钢丝进行传动，能够实现在手术过程中快速更换不同的手术器械。在器械结构设计的基础上对关键部件进行受力分析，并对器械进行运动学分析。通过仿真实验来验证结构设计和运动学分析的正确性和有效性。%A 4-DOF instrument for minimally invasive surgery which was a wire rope instru-ment was designed to obtain higher flexibility .The instrument for robot can be rapid replaced during the minimally invasive surgery .The forces on the instrument were analyzed and simu-lated.The forward kinematics and inverse kinematics analysis of the instrument was verified by Matlab and ADAMS model .