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针对自主设计的一种腹腔镜手术机器人的执行臂，基于旋量理论建立了执行臂的数学模型，并完成了正向运动学和逆向运动学解析，在执行臂的可达工作空间内规划了一条螺旋线轨迹，并完成了运动学仿真，验证了建模方法的准确性，基于搭建的主从遥操作运动控制实验平台，实现了机器人手术过程中的夹取、交换、持针、穿刺等基本手术动作，进一步证明了执行臂构型设计的合理性及其运动学建模求解方法的准确性和实际可行性。
Abstract：Aiming at the self-designed actuating arm of a laparoscopic surgical robot, firstly, the mathematical model of the actuating arm was established based on the screw theory, and the forward kinematics and reverse kinematics were analyzed. Then, a spiral trajectory was planned in the reachable workspace of the actuating arm, and the kinematics simulation was completed, which verifies the accuracy of the modeling method. Finally, the basic surgical actions such as grasping, exchanging, holding the needle and puncturing during robot surgery were realized, based on the experimental platform of masterslave teleoperation motion control, which further proves the rationality of the configuration design of the actuating arm, and the accuracy and practical feasibility of the kinematics modeling solution method.
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基本信息:
DOI：
中图分类号:TP242;TH777
引用信息:
[1]白儒,张光永,胡三元等.腹腔镜手术机器人执行臂运动学建模分析[J].华北理工大学学报(自然科学版),2025,47(03):43-49.
基金信息:
山东省重点研发计划（2017CXGC0919）：单孔腹腔镜手术机器人系统的设计与制作; 山东第一医科大学学术提升计划（2019LJ006）：腹腔镜手术机器人研发