Design, Kinematic, Dynamic and Stiffness Analysis of a 5-DOF Single-incision Laparoscopic Surgery Robot

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2020-06-23 DOI:10.21535/IJRM.V7I1.1031

Heqiang Tian

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引用次数: 1

Abstract

In order to further reduce the incisions of laparoscopic surgery and the possibility of infection, the organic combination of single-incision laparoscopic surgery (SILS) and robotics has made the degree of minimally invasive surgery further improved. A new 5-DOF single-incision laparoscopic surgery robot was designed based on Axiomatic Design Theory, whose structure consisting of the movement mechanism, the endoscope and the position and pose adjustment mechanism. The robot parts are connected in series and parallel, allowing a pivotal motion of the endoscope in the center of the robot for realizing the incision. In order to achieve a performance optimization and a dynamic control of the single-incision laparoscopic surgical robot, the kinematics and dynamic modeling and dynamic stiffness analysis of the robot are especially important. The forward kinematics equation, inverse kinematics equation and Jacobian matrix of the SILS robot are derived based on D-H method and geometric method, and the kinematics numerical simulation is carried out by Matlab. The dynamic equation of the robot is derived by Kane method. Subsequently, a numerical simulation of the robot dynamics equation is performed, with its virtual prototype utilized to set the motion plan of the robot mechanism. After robot’s dynamic simulation, the numerical changes of the driving force and torque for each robot’s moving mechanism are obtained. The performed simulation results further verify the correctness of the established robot’s dynamic model. Finally, utilizing the above methods, the dynamic stiffness model and evaluation index of the robot are determined, and the dynamic stiffness of the robot is analyzed and evaluated. The results of the kinematics, dynamic and stiffness analysis of the SILS robot further validate that the 5-DOF SILS robot has a reasonable structure, motion and sufficient stability to meet the needs of single-incision laparoscopic surgery.

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五自由度单切口腹腔镜手术机器人的设计、运动学、动力学及刚度分析

为了进一步减少腹腔镜手术的切口和感染的可能性，单切口腹腔镜手术（SILS）与机器人技术的有机结合使微创手术的程度进一步提高。基于公理设计理论，设计了一种新型的5自由度单切口腹腔镜手术机器人，其结构由运动机构、内窥镜和位置姿态调节机构组成。机器人部件串联和并联，允许内窥镜在机器人中心进行枢转运动，以实现切口。为了实现单切口腹腔镜手术机器人的性能优化和动态控制，机器人的运动学和动力学建模以及动态刚度分析尤为重要。基于D-H方法和几何方法，推导了SILS机器人的正运动学方程、逆运动学方程和雅可比矩阵，并利用Matlab进行了运动学数值仿真。采用凯恩方法推导了机器人的动力学方程。随后，对机器人动力学方程进行了数值模拟，并利用其虚拟样机设定了机器人机构的运动计划。通过对机器人的动力学仿真，得到了每个机器人运动机构的驱动力和转矩的数值变化。仿真结果进一步验证了所建立的机器人动力学模型的正确性。最后，利用上述方法，确定了机器人的动态刚度模型和评价指标，并对机器人的动态刚性进行了分析和评价。SILS机器人的运动学、动力学和刚度分析结果进一步验证了该5自由度SILS机器人具有合理的结构、运动和足够的稳定性，能够满足单切口腹腔镜手术的需要。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.