眼科手术微振动操作模块的设计与研究

doi:10.3901/JME.2021.03.026

机械工程学报 ›› 2021, Vol. 57 ›› Issue (3): 26-34.doi: 10.3901/JME.2021.03.026

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眼科手术微振动操作模块的设计与研究

郑昱¹, 杨洋¹, 邬如靖¹, 马科²

1. 北京航空航天大学机械工程及自动化学院北京 100191;
2. 首都医科大学附属北京同仁医院北京市眼科研究所北京 100730

收稿日期:2020-02-19 修回日期:2020-05-20 出版日期:2021-02-05 发布日期:2021-03-16
通讯作者: 杨洋(通信作者),男,1962年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、显微外科机器人、智能机械设计与控制等。E-mail:yang_mech@126.com
作者简介:郑昱,男,1993年出生,博士研究生。主要研究方向为机器人动力学与控制技术。E-mail:zhengyu_me@buaa.edu.cn
基金资助:
国家重点研发计划（2017YFB1302702）和国家自然科学基金（51875011）资助项目。

Design and Research of a Module for Micro Vibration Operation in Ophthalmic Microsurgery

ZHENG Yu¹, YANG Yang¹, WU Rujing¹, MA Ke²

1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
2. Beijing Institute of Ophthalmology, Beijing Tongren Hospital, Captital Medical University, Beijing 100730

Received:2020-02-19 Revised:2020-05-20 Online:2021-02-05 Published:2021-03-16

摘要/Abstract

摘要： 在诸如眼科手术等外科手术中，使器械末端产生合适的微振动可以在一定程度上减小手术所需的操作力。提出一种可集成于眼科手术机器人末端的微振动模块，用于驱动手术器械产生微振动。该模块是一种并联柔性机构，包含三个并联支链和一个约束中心柱，每个并联支链中包含两个串联的驱动单元，通过驱动单元和中心柱的柔性微变形，实现微振动运动。然后，使用伪刚体模型描述驱动单元和中心柱的弯曲变形，建立微振动模块的运动学模型，通过分析支链结构参数对微振动模块性能影响，确定支链结构的构型参数。最后，利用激光测试仪对所设计的微振动模块进行微振动试验测试。结果表明，提出的微振动模块可在两个自由度方向分别实现30 Hz，14 μm和30 Hz，18 μm的微振动，试验结果同时验证了所提柔性机构分析方法的有效性。

关键词: 显微眼科手术, 并联柔性机构, 微振动操作, 伪刚体模型

Abstract: In surgical operation such as ophthalmic surgery, the micro vibration of the end of the surgical instrument can potentially reduce the required operation force. Therefore, a micro vibration module is proposed that can be integrated into the end-effector of the ophthalmic surgical robot to drive the surgical instrument to generate micro vibration. The micro vibration module is a kind of parallel compliant mechanism. The micro vibration module is composed of three parallel branch chains and a constrained central column. Each parallel branch chain contained two series-driven units, and the micro-vibration operation is performed through the flexible deformation of the drive unit and the central column. Then, the pseudo-rigid body model is used to describe the bending deformation of the driving unit and the center column, and the kinematics model of the micro vibration module is derived. Based on the analysis of the influence of the branch structure parameters on the performance of the micro vibration module, the branch structure parameters are determined. Finally, the performance of the micro vibration module is verified through experiments. Experimental results show that the micro vibration module can perform micro-vibrations at 30 Hz, 14 μm and 30 Hz, 18 μm in the direction of two degrees of freedom. At the same time, the experimental results verify the effectiveness of the proposed method.

Key words: ophthalmic microsurgery, parallel compliant mechanism, micro-vibration operation, pseudo-rigid-body model

中图分类号:

TG156

郑昱, 杨洋, 邬如靖, 马科. 眼科手术微振动操作模块的设计与研究[J]. 机械工程学报, 2021, 57(3): 26-34.

ZHENG Yu, YANG Yang, WU Rujing, MA Ke. Design and Research of a Module for Micro Vibration Operation in Ophthalmic Microsurgery[J]. Journal of Mechanical Engineering, 2021, 57(3): 26-34.

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眼科手术微振动操作模块的设计与研究

Design and Research of a Module for Micro Vibration Operation in Ophthalmic Microsurgery

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