周永春, 王树新, 丁杰男, 李群智. 显微外科手术机器人手指系统的研究与开发[J]. 机器人, 2006, 28(1): 65-70.
引用本文: 周永春, 王树新, 丁杰男, 李群智. 显微外科手术机器人手指系统的研究与开发[J]. 机器人, 2006, 28(1): 65-70.
ZHOU Yong-chun, WANG Shu-xin, DING Jie-nan, LI Qun-zhi. Research and Development on Microgripper System of Microsurgical Robot[J]. ROBOT, 2006, 28(1): 65-70.
Citation: ZHOU Yong-chun, WANG Shu-xin, DING Jie-nan, LI Qun-zhi. Research and Development on Microgripper System of Microsurgical Robot[J]. ROBOT, 2006, 28(1): 65-70.

显微外科手术机器人手指系统的研究与开发

Research and Development on Microgripper System of Microsurgical Robot

  • 摘要: 显微外科手术机器人手指系统是在显微外科手术机器人(妙手系统)的研制过程中,针对手术的自身特点及操作要求而自主开发的.该手指系统体积小、重量轻、夹持力大、机构精简、可靠性高,可以准确实现工具的旋转与开合,能够迅速地更换末端手术工具.通过一系列的试验测试及动物试验的研究,结果表明该手指系统的设计是成功的,能够满足显微外科手术的操作要求.

     

    Abstract: Based on the characteristics and requirements of microsurgery,a microgripper system for microsurgical robot(MicroHand system) is developed.The advantages of the microgripper system are as follows:small size,light weight,strong gripping force,condensed structure,high reliability,exact instrument rotation and open-closed motion,and easy replacement of the instrument.Through a series of tests and animal experiments,we can draw a conclusion that the design of the microgripper system is capable of satisfying the requirements of microsurgery and is proved to be successful.

     

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