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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >Dynamic Analysis of Knot Tying in Micro-Vas Suturing with MicroHand
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Dynamic Analysis of Knot Tying in Micro-Vas Suturing with MicroHand

机译：MicroHand静脉缝合术中打结的动力学分析

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摘要

Traditional dynamic analysis of robot only studies on mechanical analysis with traditional method, such as Newton-Euler method and Lagrange method. There is a special requirement for medical robot to create a clinical situation and good manipulation amenity for a surgeon. So it is necessary to study the manipulator and robot system as a whole. This paper applies the multibody dynamics to analyse the generalized multibody system consist of the manipulator, the master robot and the slave robot. Based on the dynamic model of the generalized multibody system and the knot tying model of the suture, the author builds the dynamic equation of knot tying of the suture with the generalized multibody system. According to a contrast analysis of dynamic characteristic between the master and slave robots, the author draws a conclusion that the master and slave robots' dynamic characteristic has a special relationship. This means that the manipulator can feel the dynamic characteristic of the slave robot through the master robot, which can improve greatly the precision and efficiency of the MicroHand system. The study of this paper has an important effect on improving the integer performance of the medical robot system.
机译：传统的机器人动力学分析仅采用牛顿-欧拉法和拉格朗日法等传统方法进行力学分析。对于医疗机器人而言，特别需要为外科医生创建临床情况和良好的操作便利性。因此有必要从整体上研究机械手和机器人系统。本文应用多体动力学来分析由机械手，主机器人和从机器人组成的广义多体系统。基于广义多体系统的动力学模型和缝线打结模型，建立了广义多体系统的缝线打结动力学方程。通过对主从机器人动态特性的对比分析，得出结论，主从机器人的动态特性具有特殊的关系。这意味着机械手可以通过主机器人感受到从动机器人的动态特性，从而可以大大提高MicroHand系统的精度和效率。本文的研究对改善医疗机器人系统的整数性能具有重要影响。

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