用于显微手术操作的机器人系统的体系结构分析

Architecture of a Robot System Applied to Micro-surgery

摘要: 分析了两种主要的显微手术特性．然后，针对显微手术操作对机器人的需求，对用于显微手术操作的机器人系统的结构组成、工作方式和控制系统设计作了分析．通过分析一些研究实例，总结出设计显微手术机器人的规律性结果．

Abstract: The characteristics of two main kinds of MSs(micro-surgeries) are discussed firstly.Then,based on the(requirements) of MS for robotics,the robotic system which could be used in MS is analyzed in the architecture,working and design of its control system.Common rules for designing the MS robotic system are derived from analysis of the research instances.