A New Design and Simulation of Surgical Manipulator for abdominal surgery
In order to meet the requirements of the fixedpoint movement of the slave manipulator during surgery in Celiac Minimally Invasive Surgical Robot System,a new type of robot arm based on the remote positioning mechanism is developed.Firstly,the remote mechanism of the manipulator is designed,and then the manipulator model of the peritoneal minimally invasive surgery robot is established.Secondly,the kinematics analysis of the manipulator and the remote mechanism is carried out,and a new inverse kinematics algorithm is proposed.Finally,the simulation platform of the celiac minimally invasive surgery robot is built,and the virtual simulation of the manipulator is realized.The simulation results show that the manipulator and its kinematics algorithm can be used to solve the inverse kinematics of the remote mechanism of the manipulator and can also be used to realize the virtual simulation of the fixed-point motion of the remote mechanism of the manipulator.
Robot Remote Mechanism Inverse Algorithm Human-Computer Interaction
Miao Wenhua Yang Shiyi Li Song Zhang Fengfeng
School of Mechanical and Electrical Engineering,Soochow University
国际会议
重庆
英文
1097-1102
2017-10-03（万方平台首次上网日期，不代表论文的发表时间）