中国医疗设备
中國醫療設備
중국의료설비
CHINA MEDICAL EQUIPMENT
2014年
8期
11-13,48
,共4页
廖立%闫志远%杜志江%何史林%陈广飞%周丹
廖立%閆誌遠%杜誌江%何史林%陳廣飛%週丹
료립%염지원%두지강%하사림%진엄비%주단
主操作手%医疗机器人%遥操作%远程手术
主操作手%醫療機器人%遙操作%遠程手術
주조작수%의료궤기인%요조작%원정수술
master manipulator%medical robot%teleoperation%remote operation
遥操作主手是医生与远程手术端的交互接口，是机器人辅助远程手术的重要设备。本文设计了一种构型为串并联混合形式的主手，该主手操作灵活，工作空间大，具有3个自由度的力反馈。本文搭建了远程手术实验平台，通过实验验证了系统的稳定性和远程手术的可行性。
遙操作主手是醫生與遠程手術耑的交互接口，是機器人輔助遠程手術的重要設備。本文設計瞭一種構型為串併聯混閤形式的主手，該主手操作靈活，工作空間大，具有3箇自由度的力反饋。本文搭建瞭遠程手術實驗平檯，通過實驗驗證瞭繫統的穩定性和遠程手術的可行性。
요조작주수시의생여원정수술단적교호접구，시궤기인보조원정수술적중요설비。본문설계료일충구형위천병련혼합형식적주수，해주수조작령활，공작공간대，구유3개자유도적력반궤。본문탑건료원정수술실험평태，통과실험험증료계통적은정성화원정수술적가행성。
As one kind of important equipment of robot assisted remote operation, teleoperation master manipulator is the interactive interface between the remote operation part and doctors. This paper designed a kind of master manipulator with series-parallel mixed mechanism and three-degree force feedback, which is operated flexibly and has large working space that can meet the operation requirements. A remote operation experimental platform is built. Through the experiment, we testiifed that the teleoperation master manipulator system is stable and robot assisted remote operation is practicable.
