颌骨重建手术多臂机器人构型设计与干涉分析

doi:10.6040/j.issn.1672-3961.0.2019.185

摘要/Abstract

摘要：

基于颌骨重建手术要求和手术机器人设计准则,提出主被动结合的7自由度3手臂构型方案。为了满足手术机器人机械臂干涉分析高效率的要求,采用线形扫描球(linearly swept sphere, LSS)单元体模型简化复杂结构的机械臂,构建两圆柱体之间、圆柱体与半球体之间以及两半球体之间的干涉数学模型,并提出有效干涉点的概念及干涉点有效性的判断方法,得到机械臂在任意位置下的干涉判断准则。基于机器人平台的无干涉控制试验验证了方法的正确性,与传统干涉分析方法相比,该方法简化了基本几何体模型干涉分析的判据和过程,减少了模型相互之间干涉判断的次数,进一步提高了干涉分析的效率。

关键词: 手术机器人, 构型设计, 线形扫描球, 干涉分析, 效率

Abstract:

Based on the requirements of mandible reconstruction surgery and the design criteria of surgical robots, a seven degree of freedom three-arm configuration with active and passive combination was proposed. In order to meet the requirement of high efficiency of interference analysis for manipulator of surgical robot, the linear swept sphere element model was used to simplify the manipulator with complex structure. The interference mathematical models between two cylinders, between cylinders and hemispheres, and between two hemispheres were constructed. The concept of effective interference points and the method of judging the effectiveness of interference points were proposed. The interference judgment of the manipulator at any position was obtained. The experiment of non-interference control verified the correctness of the method by robot platform. The method simplified the criterion and process of interference analysis of basic geometric model, reduced the number of interference judgments between models, and improved the efficiency of interference analysis.

Key words: surgical robot, configuration design, linearly swept sphere, interference analysis, efficiency

中图分类号:

TP242.3

赵洪华,赵建,段星光,胡志通,田倩倩,赵耀华. 颌骨重建手术多臂机器人构型设计与干涉分析[J]. 山东大学学报 (工学版), 2019, 49(6): 73-80.

Honghua ZHAO,Jian ZHAO,Xingguang DUAN,Zhitong HU,Qianqian TIAN,Yaohua ZHAO. Configuration design and interference analysis of multi-arm robot for mandible reconstruction[J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 73-80.

图/表 14

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

参考文献 20

1	黄燕.自体骨、生物材料在颅颌面骨缺损修复中的应用研究[D].武汉:华中科技大学, 2014.
	HUANG Yan.Autologous bone biological materials in the application of the craniofacial and maxillofacial bone defects repair[D]. Wuhan: Huazhong University of Science and Technology, 2014.
2	黄志录. 牙隐裂错颌畸形对人体及颌面部的影响[J]. 全科口腔医学电子杂志, 2015, 2 (3): 7- 8.
	HUANG Zhilu . Effects of cleft teeth and malocclusion on human body and maxillofacial region[J]. General Journal of Stomatology, 2015, 2 (3): 7- 8.
3	王兴.正颌手术辅助机器人系统设计[D].济南:山东大学, 2016.
	WANG Xing. System design for orthognathic aided robot[D]. Jinan: Shandong University, 2016.
4	EGGERS G , KLEIN J , BLANK J , et al. Piezosurgery: an ultrasound device for cutting bone and its use and limitations in maxillofacial surgery[J]. British Journal of Oral & Maxillofacial Surgery, 2004, 42 (5): 451- 453.
5	段星光, 郭传瑸, 陈超. 颅颌面外科辅助手术机器人系统[J]. 机器人技术与应用, 2011, (4): 38- 42. doi: 10.3969/j.issn.1004-6437.2011.04.010
	DUAN Xingguang , GUO Chuanbin , CHEN Chao . Robot system for craniomaxillofacial surgery[J]. Robot Technique and Application, 2011, (4): 38- 42. doi: 10.3969/j.issn.1004-6437.2011.04.010
6	陈黎明, 栾楠, 张诗雷. 颅颌面骨畸形整复手术中辅助机器人的应用[J]. 机械与电子, 2010, (4): 57- 60. doi: 10.3969/j.issn.1001-2257.2010.04.016
	CHEN Liming , LUAN Nan , ZHANG Shilei . Research on the application of Multi DOF Robot on Orthognathic Navigation Surgery surgery[J]. Machinery and Electronics, 2010, (4): 57- 60. doi: 10.3969/j.issn.1001-2257.2010.04.016
7	及淑芳.六自由度主操作机器人机构构型及其性能分析[D].天津:河北工业大学, 2013.
	JI Shufang. Configuration synthesis and performance analysis of a 6-DOF master robot[D]. Tianjin: Hebei University of Technology, 2013.
8	GREGORY A D , LIN M C , GOTTSCHALK S , et al. A framework for fast and accurate collision detection for haptic interaction[J]. Siggraph Acm Siggraph Courses, 1999, 38- 45.
9	GILBERT E G , JOHNSON D W , KEERTHI S S . A fast procedure for computing the distance between complex objects in three-dimensional space[J]. IEEE Journal of Robotics and Automation, 1988, 4 (2): 193- 203. doi: 10.1109/56.2083
10	从飞, 张秋菊. 双机器人协调系统中的碰撞问题研究[J]. 机械传动, 2017, 41 (11): 13- 16.
	CONG Fei , ZHANG Qiuju . Research of the collision problem for dual robot coordination system[J]. Journal of Mechanical Transmission, 2017, 41 (11): 13- 16.
11	GOTTSCHALK S, LIN M C, MANOCHA D. OBBTree: a hierarchical structure for rapid interference detection[C]//Conference on Computer Graphics & Interactive Techniques. New Orleans, USA: ACM, 1996: 171-180.
12	QUINLAN S. Efficient distance computation between non-convex objects[C]//IEEE International Conference on Robotics & Automation. San Diego, USA: IEEE, 1994: 3324-3329.
13	MARTNEZ S B , PEREZ F I , DELPOBL A P . Collision detection between robot arms and people[J]. J Intell and Robotic Syst, 2003, 38 (1): 105- 119. doi: 10.1023/A:1026252228930
14	熊勇刚, 周友行, 林峰. 多臂机器人关节间的碰撞检测研究[J]. 机械科学与技术, 2004, (7): 866- 869. doi: 10.3321/j.issn:1003-8728.2004.07.033
	XIONG Yonggang , ZHOU Youxing , LIN Feng . An algorithm for collision detection of the joints of a multi-boom robots[J]. Mechanical Science and Technology, 2004, (7): 866- 869. doi: 10.3321/j.issn:1003-8728.2004.07.033
15	陈友东, 晏亮, 谷平平. 双机器人系统的碰撞检测算法[J]. 北京航空航天大学学报, 2013, 39 (12): 1644- 1648.
	CHEN Youdong , YAN Liang , GU Pingping . Detection collision algorithm for two-manipulator system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39 (12): 1644- 1648.
16	KORB W , MARMULLA R , RACZKOWSKY J , et al. Robots in the operating theatre-chances and challenges[J]. International Journal of Oral and Maxillofacial Surgery, 2004, 33 (8): 721- 732. doi: 10.1016/j.ijom.2004.03.015
17	刘达, 王田苗, 张玉茹, 等. 面向微创手术的医疗外科机器人构型综合[J]. 机器人, 2003, (2): 132- 135. doi: 10.3321/j.issn:1002-0446.2003.02.009
	LIU Da , WANG Tianmiao , ZHANG Yuru , et al. Structure synthesis of surgical robot orienting to minimally invasive surgery[J]. Robot, 2003, (2): 132- 135. doi: 10.3321/j.issn:1002-0446.2003.02.009
18	孔康, 王树新, 张淮锋, 等. 紧凑型微创手术机器人的设计与实现[J]. 天津大学学报(自然科学与工程技术版), 2017, 50 (11): 1131- 1139.
	KONG Kang , WANG Shuxin , ZHANG Huaifeng , et al. Design and implementation of a compact minimally invasive surgical robot[J]. Journal of Tianjin University (Science and Technology), 2017, 50 (11): 1131- 1139.
19	TAYLOR R H . A perspective on medical robotics[J]. Proceedings of the IEEE, 2006, 94 (9): 1652- 1664. doi: 10.1109/JPROC.2006.880669
20	陈智链.空间机械臂在轨运行碰撞干涉分析方法研究[D].北京:北京邮电大学, 2015.
	CHEN Zhilian. Research on collision analysis method for space manipulator on orbit[D]. Beijing: Beijing University of Posts and Telecommuaications, 2015.

相关文章 15

[1]	彭振华,王者超,李佳佳,乔丽苹,赵秦尼,李涵硕. 扩建地下水封洞库水封性评价与水幕系统优化[J]. 山东大学学报 (工学版), 2025, 55(2): 125-133.
[2]	段升飞,杨凌霄,李静姝,高洪亮,张婉,张雄飞,齐安安,王鹏程,王浥铭,庹雄. 农村地区不同炉具和燃料排放PM_1.0中多环芳烃的排放特征[J]. 山东大学学报 (工学版), 2021, 51(1): 120-127.
[3]	乔凯,王启先,王勇,谢玉东. 振荡翼改进运动模型的能量捕获性能分析[J]. 山东大学学报 (工学版), 2020, 50(6): 40-47.
[4]	郭英伦,郗富强,苏瑞智,李国祥,于泽庭. 基于LNG冷与燃料电池余热利用的TRCC串联系统[J]. 山东大学学报 (工学版), 2019, 49(5): 52-57.
[5]	刘芳,吴广潮. 一种基于压缩矩阵的改进Apriori算法[J]. 山东大学学报 (工学版), 2018, 48(6): 82-88.
[6]	曹升乐,于翠松. 水资源绝对资产负债计算方法[J]. 山东大学学报 (工学版), 2018, 48(5): 1-8.
[7]	赵亚楠,王新锋,李锐,陈天舒,薛丽坤,王文兴. 大气采样干燥技术除湿效果的测试与对比[J]. 山东大学学报(工学版), 2018, 48(4): 128-136.
[8]	王振德,黄兆松,蒋丽,周维芝. 铁载体在假交替单胞菌Cd²⁺去除中的作用[J]. 山东大学学报(工学版), 2018, 48(4): 122-127.
[9]	赵子健,王芳,常发亮. 计算机辅助外科手术中医疗机器人技术研究综述[J]. 山东大学学报(工学版), 2017, 47(3): 69-78.
[10]	马宗正,邵凤翔,王新莉,杨安杰. 发动机尾气温差发电装置[J]. 山东大学学报(工学版), 2016, 46(2): 122-127.
[11]	刘德宝, 吴耀华, 郭耀阳, 王艳艳. 基于串并行混合拣选策略的自动拣选系统品项分配优化[J]. 山东大学学报(工学版), 2015, 45(6): 36-44.
[12]	胡红春1, 石庆升2, 胡晓宇3. 烟草配送中心车辆路径的模糊DEA评价模型及应用[J]. 山东大学学报(工学版), 2013, 43(3): 38-42.
[13]	吕明新1,2,宋固1,董震1,魏露露1, 赖艳华1*. 两级反射线性菲涅尔中高温集热系统热性能[J]. 山东大学学报(工学版), 2013, 43(2): 105-110.
[14]	郭德栋1,2,沙爱民3. 基于微波与磁铁耦合发热效应的融雪除冰技术[J]. 山东大学学报(工学版), 2012, 42(4): 92-97.
[15]	赖艳华1,王庆为1,吕明新1,邵长波2,孔德旻1. R404A／CO2复叠式制冷系统的火用分析[J]. 山东大学学报(工学版), 2011, 41(6): 115-121.

多维度评价

Viewed

Full text

Abstract

Cited

Shared

Discussed