一种可用于微创手术的并联机构运动学分析与性能优化

doi:10.3901/JME.2020.19.103

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 103-112.doi: 10.3901/JME.2020.19.103

• 特邀专栏：纪念张启先院士诞辰95周年 • 上一篇下一篇

扫码分享

一种可用于微创手术的并联机构运动学分析与性能优化

叶伟¹, 谢镇涛², 李秦川²

1. 浙江理工大学机电产品可靠性分析与测试国家地方联合工程研究中心杭州 310018;
2. 浙江理工大学机械与自动控制学院杭州 310018

收稿日期:2020-03-06 修回日期:2020-05-20 出版日期:2020-10-05 发布日期:2020-11-17
通讯作者: 李秦川(通信作者),男,1975年出生,博士,教授,博士研究生导师。主要研究方向为并联机器人机构学和应用技术。E-mail:lqchuan@zstu.edu.cn
作者简介:叶伟,男,1988年出生,博士,副教授。主要研究方向为并联机器人机构学。E-mail:wye@zstu.edu.cn
基金资助:
国家自然科学基金资助项目（51525504，51705465）。

Kinematics Analysis and Performance Optimization of a Parallel Manipulator for Minimally Invasive Surgery

YE Wei¹, XIE Zhentao², LI Qinchuan²

1. National and Local Joint Engineering Research Center of Reliability Analysis and Testing for Mechanical and Electrical Products, Zhejiang Sci-Tech University, Hangzhou 310018;
2. Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018

Received:2020-03-06 Revised:2020-05-20 Online:2020-10-05 Published:2020-11-17

摘要/Abstract

摘要： 与串联机构相比，并联机构具有刚度好，精度高，响应快等优点，适合用于医疗领域。微创穿刺活检等手术要求机器人机构能够输出远中心运动。提出了一种用于微创手术的新型远中心并联机构，其分支内部包含平行四边形闭环子链。采用螺旋理论对机构自由度进行了分析，证明其能输出两个转动运动和一个移动运动，且所有运动均通过远端固定中心。对机构进行位置分析，建立了驱动参数与末端参数之间的映射。通过速度分析建立了雅可比矩阵，并分析得到了机构的奇异位形，包括逆解奇异、正解奇异和混合奇异。应用搜索法分析了机构的工作空间。采用运动/力传递指标对机构进行了性能分析，绘制工作空间内的性能图谱。以优质空间大小为目标对机构进行了尺度优化。

关键词: 并联机构, 微创手术, 螺旋理论, 工作空间, 性能指标

Abstract: Compared with serial manipulators, parallel manipulators have the advantages of good rigidity, high precision and quick response, which are suitable for medical field. Operations in minimally invasive biopsies require robotic manipulators that can output remote center of motion. A novel parallel manipulator with remote center of motion is proposed for minimally invasive surgery. Each limb of the parallel manipulator includes a closed-loop parallelogram. Mobility analysis is carried out based on screw theory, which shows the manipulator has two rotational and one translational degrees of freedom passing through a fixed remote center. Mapping between the input parameters and the end-effector output parameters is obtained through position analysis. Jacobian matrix is established based on velocity analysis, which is used to determine the singular configurations of the manipulator. It has inverse singularities, direct singularities and combined singularities. Workspace is obtained using a search method. Performance analysis is conducted based on the motion/force transmission index. Performance distributions in the workspace are sketched. Optimal design is carried out to improve the global performance of the parallel manipulator.

Key words: parallel manipulator, minimally invasive surgery, screw theory, workspace, performance index

中图分类号:

TH112

叶伟, 谢镇涛, 李秦川. 一种可用于微创手术的并联机构运动学分析与性能优化[J]. 机械工程学报, 2020, 56(19): 103-112.

YE Wei, XIE Zhentao, LI Qinchuan. Kinematics Analysis and Performance Optimization of a Parallel Manipulator for Minimally Invasive Surgery[J]. Journal of Mechanical Engineering, 2020, 56(19): 103-112.

参考文献

[1] 王国彪,彭芳瑜,王树新,等. 微创手术机器人研究进展——"微创手术机器人及器械基础理论与关键技术"双清论坛综述[J]. 中国科学基金,2009,23(4):209-214. WANG Guobiao,PENG Fangyu,WANG Shuxin,et al. A perspective on medical robotics for minimally invasive surgery-Review on the Shuangqing seminar titled "Fundamental theory and key technology of robotics for minimally invasive surgery"[J]. Science Foundation of China,2009,23(4):209-214.
[2] 赵堪兴,杨培增. 眼科学[M]. 北京:人民卫生出版社,2013. ZHAO Kanxing,YANG Peizeng. Opthalmology[M]. Beijing:People's Medical Publishing House,2013.
[3] 肖晶晶,杨洋,李大寨,等. 眼科显微手术机器人研究进展及关键技术分析[J]. 机械工程学报,2013,49(1):15-22. XIAO Jingjing,YANG Yang,LI Dazhai,et al. Advances and key techniques of ophthalmic microsurgical robots[J]. Journal of Mechanical Engineering,2013,49(1):15-22.
[4] KUO C H,DAI J S. Kinematics of a fully-decoupled remote center-of-motion parallel manipulator for mini-mally invasive surgery[J]. Journal of Medical Devices,2012,6(2):021008.
[5] GHODOUSSI M,BUTNER S E,WANG Y,et al. Robotic surgery-the transatlantic case[C]//IEEE Inter-national Conference on Robotics and Automation,May 11-15,2002,Washington,DC. USA:IEEE,2002:1882-1888.
[6] GUTHART G S,SALISBURY J K. The IntuitiveTM telesurgery system:Overview and application[C]//IEEE International Conference on Robotics and Automation,April 24-28,2000,San Francisco,California. USA:IEEE,2000:618-621.
[7] CHEN Genliang,WANG Jiepeng,WANG Hao. A new type of planar two degree-of-freedom remote center-of-motion mechanism inspired by the Peaucellier-Lipkin Straight-Line linkage[J]. Journal of Mechanical Design,2019,141(1):015001.
[8] LI Jianmin,ZHANG Guokai,XING Yuan,et al. A class of 2-degree-of-freedom planar remote center-of-motion mechanisms based on virtual parallelograms[J]. Journal of Mechanisms and Robotics,2014,6(3):031014.
[9] TAYOR R H,FUNDA J,ELDIDGE B,et al. A telerobotic assistant for laparoscopic surgery[J]. IEEE Engineering in Medicine and Biology Magazine,1995,14(3):279-288.
[10] 宗光华,裴旭,于靖军,等. 双平行四杆型远程运动中心机构的设计[J]. 机械工程学报,2007,43(12):103-108. ZONG Guanghua,PEI Xu,YU Jinjun,et al. Design of double parallelogram remote center of motion mecha-nisms[J]. Journal of Mechanical Engineering,2007,43(12):103-108.
[11] YE Wei,ZHANG Bo,LI Qinchuan. Design of a 1R1T planar mechanism with remote center of motion[J]. Mechanism and Machine Theory,2020,149:103845.
[12] KIM S K,SHIN W H,KO S Y,et al. Design of a compact 5-DOF surgical robot of a spherical mechanism:CURES[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics,July 02-05,2008,Xian. China:IEEE,2008:990-995.
[13] NOUAILLE L,POISSON G,ZHANG X,et al. Method of dimensional optimization of spherical robots for medical applications using specialized indices[J]. Advanced Robotics,2014,28(3):173-186.
[14] LEHMAN A C,TIWARI M M,SHAH B C,et al. Recent advances in the CoBRASurge robotic manipulator and dexterous miniature in vivo robotics for minimally invasive surgery[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2010,224(7):1487-1494.
[15] ZOPPI M,ZLATANOV D,GOSSELIN C M. Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms[J]. IEEE Transactions on Robotics,2005,21(6):1046-1055.
[16] LI Jianmin,ZHANG Guokai, MÜLLER A,et al. A family of remote center of motion mechanisms based on intersecting motion planes[J]. Journal of Mechanical Design,2013,135(9):091009.
[17] 叶伟,杨臻,李秦川. 一种远中心并联机构运动学与性能分析[J]. 机械工程学报,2019,55(5):65-73. YE Wei,YANG Zhen,LI Qinchuan. Kinematics and performance analysis of a parallel manipulator with remote center of motion[J]. Journal of Mechanical Engineering,2019,55(5):65-73.
[18] CHEN Genliang,WANG Jue,WANG Hao,et al. Design and validation of a spatial two-limb 3R1T parallel mani-pulator with remote center-of-motion[J]. Mechanism and Machine Theory,2020,149:103807.
[19] LU Wenjuan,ZENG Daxing,HUANG Zhen. Over-constraints and a unified mobility method for general spatial mechanisms Part 2:Application of the principle[J]. Chinese Journal of Mechanical Engineering,2016,29(1):1-10.
[20] JOSHI S A,TSAI L W. Jacobian analysis of limited-DOF parallel manipulators[J]. Journal of Mechanical Design,2002,124(2):254-258.
[21] GOSSELIN C M,ANGELES J. Singularity analysis of closed-loop kinematic chains[J]. IEEE Transactions on Robotics and Automation,1990,6(3):281-290.
[22] LUM M J H,ROSEN J,SINANAN M N,et al. Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot[C]//IEEE International Conference on Robotics and Automation,April 26-May 01,2004,New Orleans,Los Angeles. USA:IEEE,2004:829-834.
[23] MERLET J P. Jacobian,manipulability,condition number,and accuracy of parallel robots[J]. Journal of Mechanical Design,2006,128(1):199-206.
[24] WANG Jinsong,WU Chao,LIU Xinjun. Performance evaluation of parallel manipulators:Motion/force transmissibility and its index[J]. Mechanism and Machine Theory,2010,45(10):1462-1476.
[25] 陈祥,谢福贵,刘辛军. 并联机构中运动/力传递功率最大值的评价[J]. 机械工程学报,2014,50(3):1-9. CHEN Xiang,XIE Fugui,LIU Xinjun. Evaluation of the maximum value of motion/force transmission power in parallel manipulators[J]. Journal of Mechanical Engine-ering,2014,50(3):1-9.
[26] ZHOU Yanhua,XIE Fugui,LIU Xinjun. Optimal design of a main driving mechanism for servo punch press based on performance atlases[J]. Chinese Journal of Mechanical Engineering,2013,26(5):909-917.

一种可用于微创手术的并联机构运动学分析与性能优化

Kinematics Analysis and Performance Optimization of a Parallel Manipulator for Minimally Invasive Surgery

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	刘晓飞, 万波, 王雨, 李鸣宇, 赵永生. 新型超冗余驱动混联机器人设计分析与性能优化[J]. 机械工程学报, 2024, 60(3): 55-67.
[2]	沈惠平, 李菊, 朱小蓉, 李涛, 孟庆梅, 朱伟, 叶鹏达. 基于最优路径的并联机构自由度计算方法及其新公式[J]. 机械工程学报, 2024, 60(19): 40-52.
[3]	于金须, 闫建华, 王孝冉, 张立杰, 谢平, 李永泉. 一种人机共融的手指外骨骼机器人设计与验证[J]. 机械工程学报, 2024, 60(17): 102-110.
[4]	张雷雨, 常雅威, 俞振东, 于洋, 李剑锋, 张斐然. 并联腕康复机器人的设计与运动学性能评价[J]. 机械工程学报, 2024, 60(17): 123-132.
[5]	梁旭, 张建勇, 李国涛, 苏婷婷, 何广平, 侯增广. 面向骨折复位手术的冗余并联机构：设计、建模与性能分析[J]. 机械工程学报, 2024, 60(17): 133-146.
[6]	田波, 娄军强, 沈家旭, 柳丽, 陈特欢, 李国平, 魏燕定. 可用于微创手术的毫米级微小并联机器人的设计、制造及实现[J]. 机械工程学报, 2024, 60(17): 147-155.
[7]	郑思远, 田俊杰, 王立鹏, 刘世创, 王洪波, 牛建业. 紧凑型刚柔耦合腰部康复机器人设计与分析[J]. 机械工程学报, 2024, 60(17): 156-166.
[8]	吴震, 李秦川, 叶伟. 基于固有频率的运动冗余并联机构位置逆解优选方法[J]. 机械工程学报, 2024, 60(13): 297-307.
[9]	刘晓飞, 陈冉, 万波, 郭孟涛, 赵永生. 多冗余驱动并联机构2RPU+2UPR+RPR的动力学建模与控制策略研究[J]. 机械工程学报, 2024, 60(11): 237-249.
[10]	刘晓飞, 万波, 陈冉, 袁徽铭, 赵永生. 对称超冗余驱动6RPS并联机构运动性能分析与优化[J]. 机械工程学报, 2024, 60(1): 235-247.
[11]	陈凯云, 盛晨原. 多足蠕动式攀爬机器人混联机构运动特性及其工作空间[J]. 机械工程学报, 2023, 59(9): 28-39.
[12]	田宇, 王洪波, 刘颖, 杜家正, 牛建业. 一种食指康复外骨骼机器人设计与分析[J]. 机械工程学报, 2023, 59(9): 40-50.
[13]	孙鹏, 戴显永, 李研彪, 杨奎. 基于3-RRP并联机构的腕关节设计与分析[J]. 机械工程学报, 2023, 59(5): 112-120.
[14]	褚宏鹏, 祁柏, 王慧奇, 邱雪松, 周玉林. 六自由度轮式并联机器人及其构型方法[J]. 机械工程学报, 2023, 59(3): 46-53.
[15]	郭建英, 梁晋, 刘建泽, 滕光蓉, 石炜, 刘良宝. 航空发动机机匣多边并联加载装置设计及精度分析[J]. 机械工程学报, 2023, 59(23): 23-32.