手术机器人远程运动中心机构的误差分析方法

上海交通大学学报（自然版） ›› 2014, Vol. 48 ›› Issue (08): 1189-1193.

手术机器人远程运动中心机构的误差分析方法

莫志翔，余德汝，王石刚

(上海交通大学机械与动力工程学院，上海 200240)

收稿日期:2013-08-12 出版日期:2014-08-28 发布日期:2014-08-28
基金资助:
江苏省科技成果转化专项资金项目（BA2011056）

Tolerance Analysis Method of Mechanism of Remote Center of Motion in Surgical Robot

MO Zhixiang,YU Deru,WANG Shigang

(School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Received:2013-08-12 Online:2014-08-28 Published:2014-08-28

摘要/Abstract

摘要：

利用几何关系的建模与计算，研究了手术机器人中平行四杆型远程运动中心机构的误差问题.首先，对机构的误差进行识别和定义，使用直接线性化方法建立机构的误差传递模型；然后，用概率性方法和确定性方法分别讨论了机构的绝对精度和重复精度；最后，分析了机构各误差因素的敏感性.算例分析结果表明，使用IT6级精度可以达到较高的定位精度，通过敏感性分析可以找出影响机构定位精度的关键因素.

关键词: 手术机器人, 远程运动中心, 误差分析, 直接线性化方法

Abstract:

An analysis method for the tolerance problem of the mechanism of remote center of motion used in surgical robot was conducted，which incorporated the identification and definition of the mechanical tolerance. An error propagation model was established using the direct linearization method. Besides, the absolute accuracy and repeat accuracy of the mechanism were analyzed using the probabilistic method and the deterministic method. In addition，sensitivity analysis of each error factor was conducted. The result shows that the mechanism can achieve a relatively high accuracy when using the IT6 standard designing level，and sensitivity analysis can find out the key factor that affects the mechanism accuracy.

Key words: surgical robot, remote center of motion(RCM), tolerance analysis, direct linearization method(DLM)

中图分类号:

TH 115

莫志翔，余德汝，王石刚. 手术机器人远程运动中心机构的误差分析方法[J]. 上海交通大学学报（自然版）, 2014, 48(08): 1189-1193.

MO Zhixiang,YU Deru,WANG Shigang. Tolerance Analysis Method of Mechanism of Remote Center of Motion in Surgical Robot[J]. Journal of Shanghai Jiaotong University, 2014, 48(08): 1189-1193.

参考文献

［1］Taylor R H, Funda J, Grossman D D, et al. Remote centerofmotion robot for surgery ［P］. US Patent: 5397323. 19950314.

［2］Kuo C H, Dai J S. Robotics for minimally invasive surgery: A Historical review from the perspective of kinematics ［C］∥International Symposium on History of Machines and Mechanisms. Netherlands: Springer Netherlands, 2009: 337354.

［3］Zong Guanghua, Pei Xu, Yu Jingjun, et al. Classification and type synthesis of 1DOF remote center of motion mechanisms ［J］. Mechanism and Machine Theory, 2008, 43(12): 15851595.

［4］裴旭，于靖军，毕树生，等. 一维远程运动中心机构的型综合［J］. 机械工程学报, 2009，42(2): 144148.

PEI Xu, YU Jingjun, BI Shusheng, et al. Type Synthesis for Onedimensional Remotecenterofmotion Mechanisms ［J］. Journal of Mechanical Engineering, 2009,42(2):144148.

［5］Olszewski R. Surgical engineering in craniomaxillofacial surgery: A literature review ［J］. Journal of Healthcare Engineering, 2012, 3(1): 5386.

［6］Bast P, Popovic A, Wu T, et al. Robot and computerassisted craniotomy: Resection planning, implant modelling and robot safety ［J］.The International Journal of Medical Robotics and Computer Assisted Surgery, 2006, 2(2): 168178.

［7］Korb W, Engel D, Boesecke R, et al. Development and first patient trial of a surgical robot for complex trajectory milling ［J］. Computer Aided Surgery, 2003, 8(5): 247256.

［8］Schauer D, Hein A, Lueth T C. RoboPoint — an autoclavable interactive miniature robot for surgery and interventional radiology ［J］. International Congress Series, 2003, 1256: 555560.

［9］陈黎明，栾楠，张诗雷，等. 颅颌面骨畸形整复手术中辅助机器人的应用［J］. 机械与电子, 2010(4): 5760.

CHEN Liming, LUAN Nan, ZHANG Silei, et al. Research on the application of multi DOF robot on orthognathic navigation surgery ［J］. Machinery & Electronics, 2010(4): 5760.

［10］Wittwer J W, Chase K W, Howell L L. The direct linearization method applied to position error in kinematic linkages ［J］. Mechanism and Machine Theory, 2004, 39(7): 681693.

［11］Imani B M, Pour M. Tolerance analysis of flexible kinematic mechanism using DLM method ［J］. Mechanism and Machine Theory, 2009, 44(2): 445456.

［12］GB/T 4604－2006, 滚动轴承径向游隙［S］.

［13］GB/T 13487－2002, 一般传动用同步带［S］.

[1]	邵吉吉1，张旭1,2,3，苗同臣1，尚福林3. 晶体塑性模型在微压缩实验误差分析中的应用[J]. 上海交通大学学报（自然版）, 2018, 52(7): 860-866.
[2]	刘文超1，卞鸿巍1，王荣颖1，岳亚洲2. 惯性导航系统极区导航参数解算方法[J]. 上海交通大学学报（自然版）, 2014, 48(04): 538-543.
[3]	王振1，谢叻1,2，YU Wenwei3，蒋峻1，周朝政1. 体内微型医用机器人[J]. 上海交通大学学报（自然版）, 2013, 47(12): 1881-1887.
[4]	顾浩, 马艺馨. 基于泰勒级数的3D匀速运动控制算法及误差分析[J]. 上海交通大学学报（自然版）, 2012, 46(11): 1718-1722.
[5]	张海波, 陶卫, 杨金锋, 赵辉. 旋转对称三角传感器中的光斑偏移[J]. 上海交通大学学报（自然版）, 2012, 46(05): 717-721.