适用于机器人辅助微创手术的六自由度主手设计

doi:10.1007/s12204-024-2773-5

J Shanghai Jiaotong Univ Sci ›› 2025, Vol. 30 ›› Issue (4): 658-667.doi: 10.1007/s12204-024-2773-5

所属专题：智能机器人

适用于机器人辅助微创手术的六自由度主手设计

1.上海交通大学材料科学与工程学院，上海200030；2. 上海交通大学医疗机器人研究院，上海200240

收稿日期:2023-12-19 接受日期:2024-01-25 出版日期:2025-07-31 发布日期:2025-07-31

Design of a 6-DOF Master Robot for Robot-Assisted Minimally Invasive Surgery

程泓宇¹，张涵¹，王爽^{1, 2}，谢叻^{1, 2}

1. School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200030, China; 2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2023-12-19 Accepted:2024-01-25 Online:2025-07-31 Published:2025-07-31

摘要/Abstract

摘要： 主手是机器人辅助微创手术遥操作系统的重要组成部分。基于并联机构的六自由度主手具有惯量低和反馈力高的优点；然而，复杂的运动学和奇异性限制了并联型主手的设计及应用。基于6-RUS机构设计了一款主手，用于构建主从遥操作系统。首先简要介绍了主手的临床背景，并采用具有代表性的手术机器人对主从映射关系进行了分析。随后推导了主手的正逆运动学、雅可比矩阵、平移和姿态工作空间，作为主手操作的基础，并采用全局传递指数对结构参数进行优化，以获得更好的运动/力传递性。在此基础上，制作了主手样机，设计了主从控制系统，进行了主从远程操作实验和模型实验，试验结果表明所设计的主手能够满足机器人辅助微创手术的基本需求。

关键词: 主手, 主从遥操作系统, 手术机器人, 主从控制

Abstract: Master robots are integral components of teleoperated robot-assisted minimally invasive surgery systems. Among them, parallel mechanism-based 6-degree-of-freedom master robots are distinguished by low inertia and high-force feedback. However, complex kinematics and singularities are the main barriers limiting its usage. This study converts the Hexa-type 6-RUS mechanism into a master robot to construct master-slave teleoperation system. The clinical background is briefly introduced and a representative surgical robot is employed to analyze the master-slave mapping relationship. The inverse/forward kinematics, the Jacobian matrix, and the translation and orientation workspace are derived as the bases of master robot’s application. The architecture parameters are optimized by the global transmission index to achieve better motion/force transmissibility. Based on the optimal result, the prototype and the master-slave control loop are constructed. Finally, the corresponding master-slave teleoperation experiment and model experiment demonstrate that the proposed master robot satisfies the basic need for medical application.

中图分类号:

TP242

. 适用于机器人辅助微创手术的六自由度主手设计[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(4): 658-667.

Cheng Hongyu, Zhang Han, Wang Shuang , Xie Le. Design of a 6-DOF Master Robot for Robot-Assisted Minimally Invasive Surgery[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(4): 658-667.

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适用于机器人辅助微创手术的六自由度主手设计

Design of a 6-DOF Master Robot for Robot-Assisted Minimally Invasive Surgery

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