CAJ | 학술논문

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。
위제고복강미창수술기계적령활성，설계일충구유사개자유도복강미창수술궤기인용수술기계。기계채용강사진행전동，능구실현재수술과정중쾌속경환불동적수술기계。재기계결구설계적기출상대관건부건진행수력분석，병대기계진행운동학분석。통과방진실험래험증결구설계화운동학분석적정학성화유효성。
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 .