[1]贺辰宇,时运来,林志伟,等.前列腺远心穿刺机构的设计与建模[J].机械与电子,2026,44(04):1-7.
　HE Chenyu,SHI Yunlai,LIN Zhiwei,et al.Design and Modeling of a Remote Motion Center Mechanism for Prostate Puncture[J].Machinery & Electronics,2026,44(04):1-7.
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前列腺远心穿刺机构的设计与建模()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年04期
页码:
1-7
栏目:
研究与设计
出版日期:
2026-04-27

文章信息/Info

Title:
Design and Modeling of a Remote Motion Center Mechanism for Prostate Puncture
文章编号:
1001-2257(2026)04-0001-07
作者:
贺辰宇; 时运来; 林志伟; 龚 美
(南京航空航天大学航空航天结构力学及控制全国重点实验室,江苏 南京 210016)
Author(s):
HE Chenyu; SHI Yunlai; LIN Zhiwei; GONG Mei
(State Key Laboratory of Mechanics and Control for Aerospace Structures,Nanjing University of Aeronautics
and Astronautics,Nanjing 210016,China)
关键词:
前列腺穿刺机构; 运动学; 工作空间; 动力学
Keywords:
prostate puncture mechanism; kinematics; workspace; dynamic
分类号:
TP242
文献标志码:
A
摘要:
根据前列腺穿刺手术的需求,设计了一种具有远心不动点的3自由度穿刺机构,可实现穿刺针绕
穿刺点的俯仰、偏航、进给动作,以解决传统手术中医生手动穿刺带来的穿刺点偏移问题。首先,利用MD H
法建立运动学模型,求解机构的正运动学、逆运动学以及工作空间。其次,采用拉格朗日法建立等效动力学方
程,求解关节力矩理论值。最后,用ADAMS对穿刺机构的典型运动过程进行仿真分析,并研究了机构运行过
程中穿刺点的偏移情况。仿真结果证实了所建动力学模型的准确性,且穿刺点偏移量处于合理范围之内。该
研究成果为后续穿刺机构的轨迹规划、运动关节控制及穿刺偏移问题的研究提供了重要指导。
Abstract:
Based on the clinical requirements of prostate puncture surgery,a three degree of freedom
puncture mechanism with a remote center of motion was designed.This mechanism enables the puncture
needle to perform pitching,yawing,and feeding actions around the puncture point,thereby mitigating
the issue of puncture point deviation commonly caused by manual puncture by doctors in traditional surgeries.
First,a kinematic model was established using the Modified Denavit Hartenberg (MD H) method to
solve the forward kinematics,inverse kinematics,and working space of the mechanism.Secondly,an equivalent
dynamic model was developed,and the Lagrangian method was used to establish the dynamic equations
and calculate the theoretical joint torques.Finally,a typical motion process of the puncture mechanism was
simulated and analyzed using ADAMS,and the deviation of the puncture point during the operation was
studied.The simulation results validate the accuracy of the developed dynamic model,and confirm that the
puncture point deviation remains within a reasonable range.The research provides crucial guidance for subsequent
studies on trajectory planning,motion joint control,and the analysis of puncture deviation for the
proposed mechanism.

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备注/Memo

备注/Memo:
收稿日期:2026-01-09
基金项目:国家自然科学基金资助项目(52577059)
作者简介:贺辰宇 (2002-),女,湖北枣阳人,硕士研究生,研究方向为前列腺穿刺机构设计;时运来 (1976-),男,山东邹城人,副教
授,研究方向为压电作动技术及应用。
更新日期/Last Update: 2026-05-11