Research on Puncture Surgery Assisting Robot System Integrating Remote Center of Motion Mechanism and Serial Manipulator

被引：1

作者：

Zhang W. ^{[1
]}

Sha L. ^{[2
]}

Shi W. ^{[1
]}

Huang K. ^{[1
]}

Zhang M. ^{[1
]}

Liu B. ^{[1
,2
]}

机构：

[1] School of Biomedical Engineering (Suzhou), University of Science and Technology of China, Hefei

[2] Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Science, Jiangsu, Suzhou

来源：

Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University | 2023年 / 57卷 / 07期

关键词：

auxiliary puncture; remote central motion mechanism; surgical robot; workspace;

D O I：

10.7652/xjtuxb202307001

中图分类号：

学科分类号：

摘要：

The remote center of motion (RCM) of existing puncture surgery robots does not balance the safety, precision and space effectiveness properly. To address this problem, this paper proposes to develop a hybrid puncture surgery robot system combining the RCM mechanism and the multi-dcgrcc-of-freedom serial manipulator. Firstly, an RCM actuator at the end of the robot is designed based on the double parallelogram mechanism to ensure the precision and safety of the remote center of motion during the puncture operation. Then, to ensure a larger working space, a puncture surgery robot system is built by combining the serial manipulator. At the end, a comparative experiment about the RCM positioning precision of the new system to the ARCMC (active remote center of motion constraint)-based system is conducted, and the result shows that the position errors of the new system in RCM pitch motion and roll motion arc reduced by 52. 6% and 59. 7% on average compared with those of the ARCMC-based system. Besides, the proposed hybrid robot system also provides much better working space than the PRCMC (passive remote center of motion constraint)-based robot. It is concluded that the proposed hybrid puncture surgery assisting robot system delivers better performance in puncture surgery assistance. © 2023 Xi'an Jiaotong University. All rights reserved.

引用

页码：1 / 8

页数：7

共 26 条

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