显微外科手术机器人工作空间分析与综合
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摘要
显微外科手术机器人是医疗机器人一个重要的研究领域,既涉及到了机器人相关的知识,又融合了显微外科学的诸多内容。本文以血管吻合显微手术为对象,对医生的动作进行了记录和量化分析,在此基础上得到了显微外科手术的基本操作的数据和空间布局。以数值方法、集合论、矩阵理论、计算机图形学以及机器人运动学为工具,深入的对显微外科手术机器人工作空间分析与综合两方面问题进行了研究。取得了如下主要成果:
采用蒙特卡罗方法,根据机器人关节空间到工作空间的运动学映射关系得到了机器人工作空间。对于平面机构的工作空间依照按列划分的方法得到了边界曲线以及对应的面积表达式。对于三维工作空间,在按层划分得到每一层的边界曲线的基础上,采用包络原理得到空间曲面的形状和体积表达式。在此基础上,定义并求解了机器人手术操作空间,给出了两个操作臂相互位置变化的时候,其几何形状和体积的变化关系。
对于机器人的在工作空间中某点的机构灵活度分析,综合了计算机图形学和机器人运动学的内容,提出了全拓扑分解法。根据显微手术操作的特点,提出了定向灵活度及对应的定向灵活工作空间的概念。将定向灵活工作空间的求解归结为对定常方向工作空间求图形交集的问题。由于上述分析方法不需要对位姿方程进行逆解计算,所以形式非常简单,易于工程应用。
提出了多因素条件下的显微外科手术机器人的优化设计方法。该方法不但综合了不同运动静力学性能指标,而且考虑到了工作空间对优化设计的影响。在综合考虑机器人手术操作空间存在性和双臂协调灵活性的基础上,对手术区域的布置问题进行了一定的探讨,给出了手术区域的优化布置的一些原则。
Microsurgical Robot System is the significant application in the medical robot. It isnot only related to the robotics, but also involved microsurgery. The basic operationaldata and the layout of the space in microsurgical operation were obtained, accordingto the recording and measurement on the motion of surgeon for vessel suturing. Theworkspace analysis and synthesis of microsurgical robot system are deeply studied byusing numerical method, set theory, matrix theory, computer graphics, and robotickinematics. The following creative works have been completed.
The Monte Carlo method is used to determine the workspace of robot manipulators,according to the kinematics mapping relationship from the joint space to theworkspace. For the workspace of planar (2-Dimension) manipulators, the boundarycurve and its area expression is gained by utilizing the method of partitioning by row.The boundary surface and volume expression of 3-D workspace is addressed byenveloping boundary curves of each plane which are obtained by partitioning 3-Dspace into layers. Based on the aforementioned method, the manipulation space ofrobotic surgery (MSRS) is defined and studied deeply. Furthermore, thetransformation of MSRS geometry figure and volume is studied, according to thechange of relation position of dual arms.
On the integration of computer graphics and robotic kinematics, absolute topologydecomposition method is proposed to analyze the mechanism dexterity of robotmanipulators at one fixed point in workspace. According to characteristics of themicrosurgery, one novel dexterity and the correspondingly dexterous workspace aredefined, namely dexterity with determinate orientation and dexterous workspace withdeterminate orientation. The dexterous workspace with determinate orientation isconsidered as the intersection of some constant-orientation workspaces. Without theinverse kinematics , the method is very simple and readily implemented.
Optimum design method of multi-factor model for microsurgical robot is broughtforward. Not only the kinetostatics performance indices are considered in the method,but the influence of manipulators workspace as well. On considering of the existenceof surgical operative space in the MSRS and the harmonious dexterity of dual arms,the placement of surgical operative space is primarily investigated. Moreover, somebeneficial results from the optimum placement of surgical operative space are
concluded from the investigation.
采用蒙特卡罗方法,根据机器人关节空间到工作空间的运动学映射关系得到了机器人工作空间。对于平面机构的工作空间依照按列划分的方法得到了边界曲线以及对应的面积表达式。对于三维工作空间,在按层划分得到每一层的边界曲线的基础上,采用包络原理得到空间曲面的形状和体积表达式。在此基础上,定义并求解了机器人手术操作空间,给出了两个操作臂相互位置变化的时候,其几何形状和体积的变化关系。
对于机器人的在工作空间中某点的机构灵活度分析,综合了计算机图形学和机器人运动学的内容,提出了全拓扑分解法。根据显微手术操作的特点,提出了定向灵活度及对应的定向灵活工作空间的概念。将定向灵活工作空间的求解归结为对定常方向工作空间求图形交集的问题。由于上述分析方法不需要对位姿方程进行逆解计算,所以形式非常简单,易于工程应用。
提出了多因素条件下的显微外科手术机器人的优化设计方法。该方法不但综合了不同运动静力学性能指标,而且考虑到了工作空间对优化设计的影响。在综合考虑机器人手术操作空间存在性和双臂协调灵活性的基础上,对手术区域的布置问题进行了一定的探讨,给出了手术区域的优化布置的一些原则。
Microsurgical Robot System is the significant application in the medical robot. It isnot only related to the robotics, but also involved microsurgery. The basic operationaldata and the layout of the space in microsurgical operation were obtained, accordingto the recording and measurement on the motion of surgeon for vessel suturing. Theworkspace analysis and synthesis of microsurgical robot system are deeply studied byusing numerical method, set theory, matrix theory, computer graphics, and robotickinematics. The following creative works have been completed.
The Monte Carlo method is used to determine the workspace of robot manipulators,according to the kinematics mapping relationship from the joint space to theworkspace. For the workspace of planar (2-Dimension) manipulators, the boundarycurve and its area expression is gained by utilizing the method of partitioning by row.The boundary surface and volume expression of 3-D workspace is addressed byenveloping boundary curves of each plane which are obtained by partitioning 3-Dspace into layers. Based on the aforementioned method, the manipulation space ofrobotic surgery (MSRS) is defined and studied deeply. Furthermore, thetransformation of MSRS geometry figure and volume is studied, according to thechange of relation position of dual arms.
On the integration of computer graphics and robotic kinematics, absolute topologydecomposition method is proposed to analyze the mechanism dexterity of robotmanipulators at one fixed point in workspace. According to characteristics of themicrosurgery, one novel dexterity and the correspondingly dexterous workspace aredefined, namely dexterity with determinate orientation and dexterous workspace withdeterminate orientation. The dexterous workspace with determinate orientation isconsidered as the intersection of some constant-orientation workspaces. Without theinverse kinematics , the method is very simple and readily implemented.
Optimum design method of multi-factor model for microsurgical robot is broughtforward. Not only the kinetostatics performance indices are considered in the method,but the influence of manipulators workspace as well. On considering of the existenceof surgical operative space in the MSRS and the harmonious dexterity of dual arms,the placement of surgical operative space is primarily investigated. Moreover, somebeneficial results from the optimum placement of surgical operative space are
concluded from the investigation.
引文
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