紧凑型微创手术机器人的设计与实现
Design and Implementation of a Compact Minimally Invasive Surgical Robot

紧凑型微创手术(MIS)机器人的开发对微创手术技术的推广具有重要意义．在深入分析造成da?Vinci微创机器人体积庞大的原因的基础上, 开发了一种紧凑型微创手术机器人系统．通过添加双被动关节的方式实现了机器人从操作手的紧凑设计, 并提出了与该从操作手相匹配的运动支点预估算法; 针对从操作手的应用需求, 设计出一种具有末端自转功能的新型微创器械, 该器械有助于降低机器人辅助微创手术的操作难度; 结合器械的构型特点, 设计了机器人主操手, 并建立了微创机器人主从运动映射模型, 解决了传统微创手术中存在的眼手运动不一致问题．利用所开发的系统样机进行了系列验证性实验以及动物实验, 充分验证了所提出的微创手术机器人设计方案的可行性．
The development of compact minimally invasive surgical(MIS)robot is of great significance to the popularization of MIS technology. Based on the analysis of the reasons for the large size of da Vinci MIS robot，a compact MIS robot system was developed. The compact design of the robot’s slave manipulator was realized by adding double passive joints，and an estimation method of motion fulcrum which matches the slave manipulator was proposed. For application of the robot’s slave manipulator，a novel MIS instrument with distal rolling function was designed，which can make the operation easier. The robot’s master manipulator was designed to accommodate the configuration feature of the proposed instrument，and a master-slave motion mapping model was established to solve the problem of inconsistent eye-hand motion in traditional MIS. Using the developed system prototype，a series of verifying experiments and animal experiments were performed，which fully verified the feasibility of the proposed MIS robot design