CT导航微创外科机器人关节液压锁紧结构研究

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刘达, 唐粲. CT导航微创外科机器人关节液压锁紧结构研究[J]. 机器人, 2008, 30(4): 298-303.. LIU Da, TANG Can. On Hydraulically Locking Structure of Robot Joint for Minimally Invasive CT-guided Surgery. ROBOT, 2008, 30(4): 298-303..

摘要分析了目前微创外科机器人关节锁紧机构的发展现状和存在的问题，讨论了机器人关节摩擦力矩产生的机理以及影响摩擦力矩的因素．针对当前医疗机器人锁紧结构不足之处，基于关节摩擦理论，提出并设计了三种不同形式的CT导航微创外科机器人关节锁紧结构，分别阐述了它们的工作原理和实现形式．通过对不同结构的性能对比实验，确定采用基于外摩擦环的机器人关节锁紧结构，并初步验证基于该结构的机器人系统可以满足CT导航微创外科临床手术需求．

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关键词 ： CT导航, 微创外科机器人, 液压, 摩擦锥, 摩擦环, 关节锁紧

Abstract：The development status and existing problems of the joint locking mechanism of minimally invasive surgery robot guided by computerized tomography(CT) are analyzed.The principle of robot joint friction torque and the in?uence factors on friction torque are discussed.According to the deficiencies existed in the locking structure of current medical robot,three locking structures of minimally invasive surgery robot with CT navigation are presented based on joint friction theory,and their working principles and realization forms are expatiated respectively.Experiments are made on different structures to compare their performance,and the locking structure of robot joint with exterior friction ring is determined.It is validated that robot system with the presented structure can meet the requirements of clinical operation for minimally invasive surgery with CT navigation.

Key words： computerized tomography(CT) navigation minimally invasive surgery robot hydraulic pressure fric-tion cone friction ring joint locking

收稿日期: 2007-10-17

TP242

基金资助:科技部国际科技合作项目（2006DFA12290）；国家863计划资助项目（2007AA04Z246）

作者简介: 刘达（1972- ），男，博士，讲师．研究领域：医疗机器人技术．
唐粲（1973- ），男，博士生．研究领域：医疗机器人机构和智能控制技术．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2008/V30/I4/298

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