A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands
A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands
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DOI：
10.1177/027836499801700906
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发表时间：
1997-04
期刊：
影响因子：
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通讯作者：
A. Faraz;S. Payandeh
中科院分区：
文献类型：
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作者：
A. Faraz;S. Payandeh
定位支架可以帮助外科医生定位和锁定内窥镜工具，从而避免需要助理外科医生。定位支架的运动学配置由两个主要部分组成：臂（用于定位）和腕部（用于定向工具）。手腕的主要要求是围绕切口点进行球形运动。提出了一种同心多杆球铰手腕机构的设计方案。执行尺寸合成以最小化手腕的总体尺寸，并且还最大化其角运动范围。定位臂的类型合成导致使用SCARA配置作为平衡且易于移动的臂配置。基于机械臂的可达工作空间和可操作性，以最小化机械臂的总体尺寸为目标，对机械臂进行了尺寸综合。手腕和手臂的集成通过优化手腕的取向来执行，使得手腕和外科医生的工作空间之间的干扰最小化。
A positioning stand can help a surgeon with positioning and locking endoscopic tools, thereby avoiding the need foran assistant surgeon. The kinematic configuration of the positioning stand is comprised of two main parts: the arm (forpositioning), and the wrist (for orienting the tool). The main requirement of the wrist is to perform spherical movements around the incision point. A concentric multilink spher ical joint design has been developed for the wrist mechanism. The size synthesis is performed to minimize the overall size of the wrist, and also to maximize its range of angular movements. The type synthesis of the positioning arm has led to the use of a SCARA con figuration as a balanced and easily moved arm configuration. The size synthesis of the arm is carried out with the goal of minimizing its overall dimensions, based on the arm's reachable workspace and manipulability. The integration of the wrist and arm is performed by optimizing the orientation of the wrist in such a way that the in terference between the wrist and the workspace of the surgeon is minimized.