基于柔性丝传动的腹腔微创手术器械设计方法研究
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摘要
科学技术的不断发展推动了医疗领域的微创外科手术也在不断进步。微创手术器械有效地拓展了手术医生的能力，目前已成为研究热点。微创手术器械的机械结构、传动方式等方面的设计合理性，将直接影响其适用性、灵活性、操作性、控制精确性等性能及手术效果。本论文对新型腹腔微创手术器械进行了概念设计及详细设计，对器械中的机械结构、柔性丝传动（钢丝传动）等进行了理论分析和结构参数优化，并通过了仿真和实验验证。
论文运用旋量理论，对新型腹腔微创手术机器人系统‘妙手A’中的主动机械臂进行了分析。通过运动分解，确定了该机构可实现远端中心点运动，确定了不动点位置及雅克比矩阵，不但简化了运动学分析，使参数含义更明确，而且避免了直接应用运动旋量获取雅克比矩阵时出现的偏差。
采用柔性丝（钢丝）与杆件相结合的设计方案，设计了具有多自由度的新型手持式手动手术工具‘Easy Grasp’，该工具结构简单，操作端和末端同构结构和平行四边形的应用使其实现了直观操作。结合旋量理论和微分流形理论，对旋转矩阵的两个参数化方法欧拉角和矩阵指数积的特性进行了研究，并以全局条件数为优化目标，确定了手术工具‘Easy Grasp’中的钢丝布局和结构参数。
针对丝传动，论文从几何角度对垂直钢丝进行了数学建模，根据钢丝的螺旋捻制特点，对钢丝进行了结构、受力等方面的研究。对于钢丝未弯曲和弯曲时的状态，分别推导了不同位置的金属丝的结构方程，得到了钢丝的曲率、挠率及受力公式，为钢丝导向轮的设计提供了理论依据。
对易断裂的钢丝弯曲部分进行了受力分析，针对‘妙手A’机器人系统手术工具中的钢丝传动系统，确定了导向轮的槽尺寸，推导了有限空间内导向轮轴线互相垂直时的轮直径与轮间距之间的关系。仿真与针对机器人用器械和手持式手动工具的性能实验，验证了本文的理论分析和结构设计的正确性及合理性。
With the development of science and technology, the minimally invasive surgery(MIS) has been steadily progressing. The MIS equipment can assist surgeons inmicrosurgery and have become a research focus. The mechanical structure and drivenmode of the surgical equipment will directly impact its applicability, flexibility,operability, accurate controllability, and the surgical result. In the dissertation,conceptual and detail design are proposed for novel laparoscopic surgical equipment.The mechanical structure and driven mode of the active manipulator of a novelsurgical robot and the manual instrument are theoretically analyzed using screwtheory. Structures parameter optimization is also performed. The simulated andexperimental verifications of the analysis results and the design scheme are presented.
A method combining screw theory and motion decomposition is used todetermine the position of fixed point and Jacobian matrix for the active manipulator ofthe novel MIS robot system ‘MicroHand A’. The method simplifies kinematic analysisand the parameters used are clearer in meaning than those in conventional methods.The Jacobian matrix is more exact than that directly obtained by screw theory.
A hybrid-driven system that consists of cables and rigid link is used to design themulti-degree of freedom manual instrument, which is named ‘Easy Grasp’. Thestructure of the instrument is simple. Isomorphic mechanism configurations andparallelogram frame are applied to achieve intuitive control. Characteristics of theparameters of the Euler angles (EA) and the matrix exponential (ME) are studiedusing screw theory and the theory of differentiable manifolds. Cable layout andstructure parameters are optimized using Global Condition Index (GCI).
For cable-driven system, the vertical cables are mathematically modelled from ageometric point of view. The cable structure and tension on the calbe are analyzedaccording to the characteristics of screw twist. The structural equations of the cablesin different positions are derived for both non-bent cable and bent cable, respectively.The formulas of tension, cable curvature and torsion are obtained.
The tension on the cable is analyzed for the bent part. The slot size of the guidepulley of transmission system is determined for the calbe transmission system in theinstrument of ‘MicroHand A’. Meanwile, formulas that represent the relationship between diameter and the spacing of the mutually perpendicular guide pulleys inlimited space are also derived. The theoretical analysis and the mechanism design areverified by the simulation and experiments.
论文运用旋量理论，对新型腹腔微创手术机器人系统‘妙手A’中的主动机械臂进行了分析。通过运动分解，确定了该机构可实现远端中心点运动，确定了不动点位置及雅克比矩阵，不但简化了运动学分析，使参数含义更明确，而且避免了直接应用运动旋量获取雅克比矩阵时出现的偏差。
采用柔性丝（钢丝）与杆件相结合的设计方案，设计了具有多自由度的新型手持式手动手术工具‘Easy Grasp’，该工具结构简单，操作端和末端同构结构和平行四边形的应用使其实现了直观操作。结合旋量理论和微分流形理论，对旋转矩阵的两个参数化方法欧拉角和矩阵指数积的特性进行了研究，并以全局条件数为优化目标，确定了手术工具‘Easy Grasp’中的钢丝布局和结构参数。
针对丝传动，论文从几何角度对垂直钢丝进行了数学建模，根据钢丝的螺旋捻制特点，对钢丝进行了结构、受力等方面的研究。对于钢丝未弯曲和弯曲时的状态，分别推导了不同位置的金属丝的结构方程，得到了钢丝的曲率、挠率及受力公式，为钢丝导向轮的设计提供了理论依据。
对易断裂的钢丝弯曲部分进行了受力分析，针对‘妙手A’机器人系统手术工具中的钢丝传动系统，确定了导向轮的槽尺寸，推导了有限空间内导向轮轴线互相垂直时的轮直径与轮间距之间的关系。仿真与针对机器人用器械和手持式手动工具的性能实验，验证了本文的理论分析和结构设计的正确性及合理性。
With the development of science and technology, the minimally invasive surgery(MIS) has been steadily progressing. The MIS equipment can assist surgeons inmicrosurgery and have become a research focus. The mechanical structure and drivenmode of the surgical equipment will directly impact its applicability, flexibility,operability, accurate controllability, and the surgical result. In the dissertation,conceptual and detail design are proposed for novel laparoscopic surgical equipment.The mechanical structure and driven mode of the active manipulator of a novelsurgical robot and the manual instrument are theoretically analyzed using screwtheory. Structures parameter optimization is also performed. The simulated andexperimental verifications of the analysis results and the design scheme are presented.
A method combining screw theory and motion decomposition is used todetermine the position of fixed point and Jacobian matrix for the active manipulator ofthe novel MIS robot system ‘MicroHand A’. The method simplifies kinematic analysisand the parameters used are clearer in meaning than those in conventional methods.The Jacobian matrix is more exact than that directly obtained by screw theory.
A hybrid-driven system that consists of cables and rigid link is used to design themulti-degree of freedom manual instrument, which is named ‘Easy Grasp’. Thestructure of the instrument is simple. Isomorphic mechanism configurations andparallelogram frame are applied to achieve intuitive control. Characteristics of theparameters of the Euler angles (EA) and the matrix exponential (ME) are studiedusing screw theory and the theory of differentiable manifolds. Cable layout andstructure parameters are optimized using Global Condition Index (GCI).
For cable-driven system, the vertical cables are mathematically modelled from ageometric point of view. The cable structure and tension on the calbe are analyzedaccording to the characteristics of screw twist. The structural equations of the cablesin different positions are derived for both non-bent cable and bent cable, respectively.The formulas of tension, cable curvature and torsion are obtained.
The tension on the cable is analyzed for the bent part. The slot size of the guidepulley of transmission system is determined for the calbe transmission system in theinstrument of ‘MicroHand A’. Meanwile, formulas that represent the relationship between diameter and the spacing of the mutually perpendicular guide pulleys inlimited space are also derived. The theoretical analysis and the mechanism design areverified by the simulation and experiments.
引文
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