面向机器人辅助远程手术的遥操作主手研究

摘要

As one kind of important equipment of robot assisted remote operation, teleoperation master manipulator is the interactive interface between the remote operation part and doctors. This paper designed a kind of master manipulator with series-parallel mixed mechanism and three-degree force feedback, which is operated flexibly and has large working space that can meet the operation requirements. A remote operation experimental platform is built. Through the experiment, we testiifed that the teleoperation master manipulator system is stable and robot assisted remote operation is practicable.%遥操作主手是医生与远程手术端的交互接口，是机器人辅助远程手术的重要设备。本文设计了一种构型为串并联混合形式的主手，该主手操作灵活，工作空间大，具有3个自由度的力反馈。本文搭建了远程手术实验平台，通过实验验证了系统的稳定性和远程手术的可行性。