数据手套控制的微创手术机械臂抓钳系统设计
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1. 上海理工大学健康科学与工程学院(上海,200093);2. 上海星辰儿童医院供应链管理部(上海,201100)

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2020 年上海市级大学生创新创业计划训练项目(SH2020184)


Design of Grasping Forceps System of Minimally Invasive Surgical Robotic Arm Controlled by Data Gloves
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1.School of Health Science and Engineering, University of Shanghai for Science and Technology (Shanghai, 200093);2.Supply Chain Management of Shanghai Starkids Children’s Hospital(Shanghai, 201100)

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    摘要:

    设计了一种实时控制腹腔镜手术机械臂的数据手套。利用惯性测量单元和摇杆电位器采集手部姿态信息,基于 逆运动学法建立人手到手术机械臂关节的映射关系,控制手术机械臂抓钳的动作,实现常规手术操作。实验结果表明,该系统 操作简单、实时性好,响应时间 530 ms,对数据手套控制手术机械臂的研发具有参考价值。

    Abstract:

    This project designs a data glove for real-time control of a robotic arm for the laparoscopic surgical manipulator. The inertial measurement unit and rocker potentiometer are used to collect hand posture information. Based on the inverse kinematics method, the mapping relationship between the human hands and surgical robotic arm joints was established to control the action of surgical robotic arm grasping forceps and realize routine surgical operations. The experimental results show that the system is easy to operate, has good real-time performance (mean response time is 530 ms), which has reference value for the research and development of data glove-controlled surgical robotic arms.

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李晓虎,张敏燕,茅士央.数据手套控制的微创手术机械臂抓钳系统设计[J].生物医学工程学进展,2022,(1):12-

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  • 在线发布日期: 2022-09-07
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