發(fā)布時間：2016-11-17 01:40

  本文關(guān)鍵詞：顯微外科手術(shù)機器人系統(tǒng)（MicroHand）的研究與開發(fā)，由筆耕文化傳播整理發(fā)布。

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顯微外科手術(shù)機器人     

microsurgery robots(1)

robotic manipulators for microsurgery(1)

  

     Design and Study on the Master Manipulator of the Microsurgery Robot System

     顯微外科手術(shù)機器人系統(tǒng)主操作手設(shè)計與研究

短句來源

     Research and Development on the System（MicroHand）of Microsurgery Robot

     顯微外科手術(shù)機器人系統(tǒng)（MicroHand）的研究與開發(fā)

短句來源

     Study and Development on the Microgripper System of the Microsurgery Robot

     顯微外科手術(shù)機器人手指系統(tǒng)的研究與開發(fā)

短句來源

     Based on the design and development of the microsurgery robot system, the structure design of tactile finger system and no tactile finger system, mini-force sensor and experiments is analyzed and researched in a comprehensive and systematic way.

     本文圍繞顯微外科手術(shù)機器人手指系統(tǒng)的研究與開發(fā)這個專題，對帶力感覺手指系統(tǒng)的結(jié)構(gòu)設(shè)計、無力感覺手指系統(tǒng)的結(jié)構(gòu)設(shè)計、微力傳感器與實驗進行了全面、系統(tǒng)的分析與研究。

短句來源

     Centered on the special topic of Design and Development on the Controller of Microsurgery Robot.

     本文主要針對顯微外科手術(shù)機器人(MicroHand)的控制系統(tǒng)進行了設(shè)計和開發(fā)。

短句來源

  

     Based on the characteristics and requirements of microsurgery,a microgripper system for microsurgical robot(MicroHand system) is developed.

     顯微外科手術(shù)機器人手指系統(tǒng)是在顯微外科手術(shù)機器人(妙手系統(tǒng))的研制過程中,針對手術(shù)的自身特點及操作要求而自主開發(fā)的.

短句來源

     Workspace Analysis and Synthesis of Microsurgical Robot

     顯微外科手術(shù)機器人工作空間分析與綜合

短句來源

     Research and Development on Microgripper System of Microsurgical Robot

     顯微外科手術(shù)機器人手指系統(tǒng)的研究與開發(fā)

短句來源

     Theworkspace analysis and synthesis of microsurgical robot system are deeply studied byusing numerical method, set theory, matrix theory, computer graphics, and robotickinematics. The following creative works have been completed.

     以數(shù)值方法、集合論、矩陣理論、計算機圖形學以及機器人運動學為工具,深入的對顯微外科手術(shù)機器人工作空間分析與綜合兩方面問題進行了研究。

短句來源

     According to the actual vessel suture in microsurgery, the paper presents a virtual simulation system of vessel suture aiming at microsurgery, which could be used with the microsurgical robot system (MicroHand) developed in our lab. Thus, it can greatly improve the security and the reliability of MicroHand.

     本文以顯微外科手術(shù)中的血管縫合操作為實際依據(jù),建立了面向顯微外科手術(shù)的虛擬血管縫合仿真系統(tǒng),并將該系統(tǒng)成功的應用在本實驗室開發(fā)的主從式顯微外科手術(shù)機器人(MicroHand)系統(tǒng),提高了MicroHand操作的安全性和可靠性。

短句來源

  

     Cooperative Workspace Analysis of Microsurgery Robots

     顯微外科手術(shù)機器人協(xié)同工作空間分析

短句來源

  

     Dexterous-workspace-oriented Design of Robotic Manipulators for Microsurgery

     面向靈活工作空間的顯微外科手術(shù)機器人設(shè)計

短句來源

 

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  microsurgery robot

Integration of microsensor for microsurgery robot's end-effector

      

The experimental results show that the integration of microsensors for microsurgery robot's end-effector can satisfy the design requirements, and the robotic end trephine can accurately fulfill the surgical task of corneal cutting.

      

We developed a"MicroHand" system for micro-surgical.The master manipulator of the system was Phantom Desktop.In order to improve maneuverability of the system,we must determine the proper layout of the master manipulators.With Monte Carlo method,the authors made analysis of the single workspace and the cooperative workspace of the master manipulators.Through the workspace comparison of different layouts of the master manipulators,we draw a conclusion that the cooperative workspace is regular and maximal when...

We developed a"MicroHand" system for micro-surgical.The master manipulator of the system was Phantom Desktop.In order to improve maneuverability of the system,we must determine the proper layout of the master manipulators.With Monte Carlo method,the authors made analysis of the single workspace and the cooperative workspace of the master manipulators.Through the workspace comparison of different layouts of the master manipulators,we draw a conclusion that the cooperative workspace is regular and maximal when the master manipulators was located face to face with a distance of 300mm.The results have great importance to improve the preformance of the system,and has important values to develop a new two-arm master manipulator.

介紹了自主研發(fā)的“妙手”主從遙操作顯微外科手術(shù)機器人系統(tǒng),該系統(tǒng)的主手為兩個Phantom Desktop裝置。確定合理的主手布局對于提高整個系統(tǒng)的易操作性有重要的作用。運用蒙特卡羅法對主手的單個和協(xié)同工作空間進行了分析。通過不同布局時主手協(xié)同工作空間的對比分析,得出如下結(jié)論:當兩只主手相對布置、兩主手中心點之間相距300mm時,可獲得最大的形狀規(guī)則的共同工作空間。研究結(jié)果不僅對改進“妙手”系統(tǒng)的性能有重要意義,而且對于研制開發(fā)雙操作臂主手也有重要的參考價值。

Based on the characteristics and requirements of microsurgery,a microgripper system for microsurgical robot(MicroHand system) is developed.The advantages of the microgripper system are as follows: small size,light weight,strong gripping force,condensed structure,high reliability,exact instrument rotation and open-closed motion,and easy replacement of the instrument.Through a series of tests and animal experiments,we can draw a conclusion that the design of the microgripper system is capable of satisfying the...

Based on the characteristics and requirements of microsurgery,a microgripper system for microsurgical robot(MicroHand system) is developed.The advantages of the microgripper system are as follows: small size,light weight,strong gripping force,condensed structure,high reliability,exact instrument rotation and open-closed motion,and easy replacement of the instrument.Through a series of tests and animal experiments,we can draw a conclusion that the design of the microgripper system is capable of satisfying the requirements of microsurgery and is proved to be successful.

顯微外科手術(shù)機器人手指系統(tǒng)是在顯微外科手術(shù)機器人(妙手系統(tǒng))的研制過程中,針對手術(shù)的自身特點及操作要求而自主開發(fā)的.該手指系統(tǒng)體積小、重量輕、夾持力大、機構(gòu)精簡、可靠性高,可以準確實現(xiàn)工具的旋轉(zhuǎn)與開合,能夠迅速地更換末端手術(shù)工具.通過一系列的試驗測試及動物試驗的研究,結(jié)果表明該手指系統(tǒng)的設(shè)計是成功的,能夠滿足顯微外科手術(shù)的操作要求.

A robotic system(named "MicroHand") for microsurgery is developed.The system designed is based on a master-slave operation mode,and the master-slave operators are in isomery.The PHANToM Desktop which is capable of providing force feedback is used as the master device.Based on the characteristics of micro-surgery,an articulated robot with high precision is designed and used as the slave device.The surgical environment information measured by the 6D force sensors Mini40 is fed back to the master device,and thus...

A robotic system(named "MicroHand") for microsurgery is developed.The system designed is based on a master-slave operation mode,and the master-slave operators are in isomery.The PHANToM Desktop which is capable of providing force feedback is used as the master device.Based on the characteristics of micro-surgery,an articulated robot with high precision is designed and used as the slave device.The surgical environment information measured by the 6D force sensors Mini40 is fed back to the master device,and thus the master system is capable of providing force feedback to the surgeon during the operation.Animal experiments have been made on a rabbit for the vas suturing of two arteries 1mm in diameter on the neck and the leg,and the results have proved the validity of the system.

描述了一套顯微外科手術(shù)機器人系統(tǒng)———“妙手(M icroHand)”.該系統(tǒng)采用主從遙操作方式,主從手為同構(gòu)異型模式:主手是具有三維力感覺功能的PHANToM Desktop,從手是針對顯微外科手術(shù)特點而設(shè)計的高精度關(guān)節(jié)型機器人.從手末端安裝有六維力傳感器M in i40,將檢測到手術(shù)環(huán)境的力信息反饋給主手,從而使手術(shù)醫(yī)生通過PHANToM感受手術(shù)環(huán)境的三維力信息.本系統(tǒng)成功地對兔子頸部和腿部1毫米動脈進行了血管吻合手術(shù)操作,證明了它的有效性.

 

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  本文關(guān)鍵詞：顯微外科手術(shù)機器人系統(tǒng)（MicroHand）的研究與開發(fā)，由筆耕文化傳播整理發(fā)布。

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本文編號：178042