A Trial of micro-surgery system based on multi-axis force to stereo sound information transformation method

本研究开发了一种具有操作环境信息传输能力的远程显微手术系统。该系统由以下部分组成：(1)具有固定工作点的从机械臂；(2)具有固定视点的视觉信息采集系统；(3)具有力矩不反馈特征的主机械臂。为实现操作者任意操纵镊子和针头进行显微手术，“定点从机械手”由大范围运动的粗机构、高精度的精机构和各轴在刀尖相交的旋转自由度组成。因为所有的装置，包括辅助机械手和视觉信息系统，都必须在系统处理的小物体周围共享有限的空间，所以每个机构都应该被限制在一个锥形空间内。因此，执行机构必须位于机构的外侧，并且执行机构的运动通过并联连杆机构传递。“固定视点的视觉信息采集系统”具有以下特点：平移精细机构移动操作点，旋转机构从任意方向获取视觉信息，在视野中保持旋转中心，变焦功能可任意放大倍率，布置的照明设备不干扰操作，宽范围运动能力，紧凑性，为操作手留有空间。对于主机械手来说，需要具备以下功能：旋转自由度与平移自由度的分离、力信息在微观世界的增强呈现功能、抓针时镊子的握持功能、操作者不操作时的姿态保持功能、降低自由度的约束功能。如果在系统中假设刀尖是固定的，只会产生平移力，不会产生力矩。因此，只需要将平动力反馈给力反馈型主机械手。旋转自由度和平移自由度分别由旋转环和正交组合直线导轨实现。将上述技术有机地结合起来，成功地锯出了直径为4mm的柔软物体。少

This research has developed a tele-micro-surgery system with operational environment information transmission capability. The system consists of the following components : (i) a slave manipulator with a fixed operational point, (ii) a visual information acquisition system with a fixed visual point, and (iii) a master manipulator with a feature that moments are not fed back.To perform micro-surgery by handling a pair of tweezers and needles as an operator's arbitrary intention, the "slave manipulator with a fixed operational point" consists of rough mechanism for wide range motion, fine mechanism for high precision and rotational degrees of freedom where all axs of rotation intersect at the tip of the tool. Because all apparatus, including the slave manipulators and the visual information system must share the limited space around the small object that is being handled by the system, each mechanism should be confined to a conical space. Therefore, actuators must be located at the outer … More side of the mechanism and the motion of the actuator is transmitted though parallel link mechanism.The "visual information acquisition system with a fixed visual point" has the following features : translational fine mechanism to move the operation point, rotational mechanism to get visual information from an arbitrary direction, keeping the center of the rotation in the visual field, zoom function for arbitrary magnification ratio, lighting equipment which is arranged so that it does not disturb the operation, wide range motion ability, and compactness to leave room for manipulators.For the master manipulator the following functions are necessary : separation of rotational and translational degrees of freedom, augmented presentation function of force information in the micro world, holding function of tweezers for grasping a needle, posture keeping function when an operator is not handling, and constraint function to reduce the degrees of freedom. If it is assumed in the system that the tip of the tool is fixed, only translational force will occer and the moment is not generated. Therefore, only the translational force need be fed back to the force feedback type master manipulator. The rotational and translational degrees of freedom are realized by the combination of rotation rings and orthogonally combined linear guides, respectively.By connecting the technologies mentioned above organically, a soft object with the diameter of 4mm was successfully sawed. Less