Miniaturized instruments are highly needed for robot assisted medical healthcare and treatment, especially for less invasive surgery as it empowers more flexible access to restricted anatomic intervention. But the robotic design is more challenging due to the contradictory needs of miniaturization and the capability of manipulating with a large dexterous workspace. Thus, kinematic parameter optimization is of great significance in this case. To this end, this paper proposes an approach based on dexterous workspace determination for designing a miniaturized tendon-driven surgical instrument under necessary restraints. The workspace determination is achieved by boundary determination and volume estimation with partition and least-squares polynomial fitting methods. The final robotic configuration with optimized kinematic parameters is proved to be eligible with a large enough dexterous workspace and targeted miniature size.
翻译:机器人辅助医疗护理和治疗非常需要微型仪器,特别是侵扰性较小的外科手术,因为它能够更灵活地获得限制性解剖干预,但是机器人设计由于微型化的需求和用大型多层工作空间进行操纵的能力相互矛盾,因此机器人设计更具挑战性。因此,动态参数优化对本案意义重大。为此,本文件提议了一种基于移动工作空间确定的方法,用于在必要限制下设计小型、以趋势为驱动的外科手术仪器。通过边界确定和用分区和最小方形多式装配方法进行体量估计,从而实现工作空间确定。最后的具有优化运动参数的机器人配置证明符合条件,具有足够大多的移动工作空间和有针对性的微型尺寸。