Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot
Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot
复制标题
DOI：
10.1109/robot.2004.1307252
复制
发表时间：
2004-07
期刊：
影响因子：
--
通讯作者：
Mitchell J. H. Lum;J. Rosen;M. Sinanan;B. Hannaford
中科院分区：
文献类型：
--
作者：
Mitchell J. H. Lum;J. Rosen;M. Sinanan;B. Hannaford
外科技术的进步使医生能够更有效地为患者提供护理。微创手术（MIS）已经彻底改变了大量手术的执行方式。技术的进步已经导致MIS技术和机器人设备的融合;然而，这样的系统目前是大的和笨重的。通过优化球形机构的基础上，在MIS程序中收集的体内数据，本文重点介绍了一种自下而上的方法，在开发一类新的手术机器人手臂。球面机构是一个所有轴都相交于球心的旋转操纵器。将机构的旋转中心定位在MIS端口处使得这类机构成为用于微创手术和开放手术的手术机器人的前两个连杆的合适候选者。为优化机构结构，推导了机构的运动学正逆解和雅可比矩阵。使用雅可比矩阵，机构各向同性被认为是性能度量。灵巧工作空间（DWS）定义为由顶角为60/spl deg/的正圆锥体定义的高灵巧度区域，其中包含基于体内测量的95%的工具运动。扩展灵巧工作空间（EDWS）定义为使用MIS器械到达整个腹腔所需的工作空间，并由两个正交顶角60/spl deg/和90/spl deg/创建的椭圆形横截面圆锥体定义。DWS和EDWS超集的优化导致了连杆长度角为74/spl deg/和60/spl deg/的机构配置，其最大化了运动性能和紧凑性。该设计的工作空间覆盖了整个EDWS，是下一代手术机械手的最佳设计。通过直接应用在体内的实验数据，从MIS，以优化球形机械手的设计，最大限度地提高性能和最小化的尺寸已经开发出来。基于这些结果开发了一对原型机械手。
Advances in surgical technology allow physicians to more effectively provide care to their patients. Minimally invasive surgery (MIS) has revolutionized the way a significant number of procedures are performed. Advances in technology have led to the fusion of MIS techniques and robotic devices; however, such systems are currently large and cumbersome. By optimizing a spherical mechanism based on in-vivo data collected during MIS procedures, this paper focuses on a bottom-up approach in developing a new class of surgical robot arms. The spherical mechanism is a rotational manipulator with all axes intersecting at the center of the sphere. Locating the rotational center of the mechanism at the MIS port makes this class of mechanism a suitable candidate for the first two links of a surgical robot for both minimally invasive and open surgery. For optimizing the mechanism structure, the forward and inverse kinematics, as well as the Jacobian matrix, were derived. Using the Jacobian, mechanism isotropy was considered as the performance metric. The dexterous workspace (DWS) is defined as a high dexterity region defined by a right circular cone with a vertex angel of 60/spl deg/ in which 95% of the tool motions are contained based on in-vivo measurements. The extended dexterous workspace (EDWS) is defined as the workspace required to reach the entire abdominal cavity with MIS instruments and defined by a cone with an elliptical cross section created by two orthogonal vertex angels of 60/spl deg/ and 90/spl deg/. Optimization across both the DWS and a superset of the EDWS led to a mechanism configuration with link length angles of 74/spl deg/ and 60/spl deg/ that maximizes kinematic performance and compactness. The workspace of this design covers the entire EDWS and is the optimal design for the next generation of surgical manipulator. By directly applying in-vivo experimental data from MIS in order to optimize the spherical manipulator a design that maximizes performance and minimizes size has been developed. A pair of prototype manipulators is developed based on these results.