鼻部连续体微创手术机器人系统的设计与实现

Development of Nasal Continuum Minimally Invasive Surgical Robot System

摘要: 为改善鼻腔上颌窦狭小空间内的操作难题，设计了鼻部连续体微创手术机器人系统。采用球窝关节和镍钛管作为连续体结构的主体，提高了自由度。设计机器人硬件和软件系统，规划安全控制策略。最后进行机器人样机实验，通过主从控制实验、动物实验，证实连续体机器人的可行性。

Abstract: In order to improve the operation difficulties in the narrow space of the nasal maxillary sinus, the nasal continuum minimally invasive surgical robot system is designed. The ball-and-socket joints and NiTiNol tubes are used as the main body of the continuum structure to improve the degree of freedom. The hardware systems and software systems are designed. The security control policies are planned. Finally, the robot confirmed prototype experiments are conducted and the feasibility of continuum robot confirmed through master-slave control experiment and animal experiment.