[1]牛国君,冯帆帆.腹腔微创手术机器人远心机构多目标优化[J].机械与电子,2023,41(03):39-43.
　NIU Guojun,FENG Fanfan.Multi-optimization of Remote Center Motion Mechanism of Minimally Invasive Surgical Robot[J].Machinery & Electronics,2023,41(03):39-43.
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腹腔微创手术机器人远心机构多目标优化()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年03期
页码:
39-43
栏目:
智能工程
出版日期:
2023-03-31

文章信息/Info

Title:
Multi-optimization of Remote Center Motion Mechanism of Minimally Invasive Surgical Robot
文章编号:
1001-2257 ( 2023 ) 03-0039-05
作者:
牛国君; 冯帆帆
浙江理工大学机械工程学院,浙江 杭州 310018
Author(s):
NIU Guojun ;  FENG Fanfan
( School of Mechanical Engineering , Zhejiang Sci-Tech University , Hangzhou 310018 , China )
关键词:
微创手术; 平行四边形远心机构; 冗余机构; 遗传算法; 多目标优化
Keywords:
minimally invasive surgery ;  remote center motion mechanism of parallelogram ;  redundant mechanism ;  genetic algorithm ;  multi-objective optimization
分类号:
TP242
文献标志码:
A
摘要:
机器人辅助微创手术需要借助多条远心机构协调工作,为避免在微创手术中多个远心机构发生碰撞,提出含有 1 个冗余旋转自由度的平行四边形机构,使其在手术过程中保持戳卡切口点不动,调整远心机构姿态避免发生碰撞。为获得综合性能较优的冗余远心机构,提出一种含有 4 个优化目标函数(运动学、刚度、紧凑性和动力学性能指标)、1 个约束条件(质量约束)和 3 个优化变量( 2 个连杆长度和关节夹角)的多目标优化模型,应用多目标遗传算法( NSGA Ⅱ )求解上述问题。
Abstract:
Robot assisted MIS requires the coordination of multiple remote center motion mechanism. In order to avoid collisions of multiple remote center motion mechanism in minimally invasive surgery , a parallelogram mechanism with a redundant rotational degree of freedom is proposed to keep the poke incision point in place during the operation and adjust the posture of the remote center motion mechanism to avoid collisions.In order to obtain a redundant remote center motion mechanism with better comprehensive performance , the multi-objective optimization model containing four optimization objective functions ( kinematics , stiffness , compactness , and dynamic performance indicators ), one constraint ( quality constraint ) and three optimization variables ( the length of the two connecting rods and the joint angle ) is proposed. The above problems are solved by using multi-objective non-dominated sorting genetic algorithm ( NSGA Ⅱ )

参考文献/References:

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相似文献/References:

[1]夏胜男,邢宏军,杨海燕.面向微创手术的机械臂全位姿柔顺控制[J].机械与电子,2025,(10):34.
　XIA Shengnan,XING Hongjun,YANG Haiyan.Full Pose Compliance Control of Manipulators for Minimally Invasive Surgery[J].Machinery & Electronics,2025,(03):34.

备注/Memo

备注/Memo:
收稿日期: 2022-06-30
基金项目:国家自然科学基金资助项目( 61803341 );浙江省自然科学基金资助项目( LY20E050019 );机器人技术与系统国家重点实验室开放研究项目( SKLRS-2019-KF-08 )
作者简介:牛国君 ( 1986- ),男,山东枣庄人,博士,讲师,研究方向为微创手术机器人、机器人控制;冯帆帆 ( 1997- ),男,山西晋城人,硕士研究生,研究方向为微创手术机器人、机器人控制。
更新日期/Last Update: 2023-04-06