基于神经内镜手术辅助连续体机械臂设计与仿真

Design and Simulation of a Continuous Robotic Arm Assisted by Neuroendoscopic Surgery

摘要: 本文设计了一种新型的神经内镜手术辅助机械臂结构，旨在应用于神经外科手术中。该构型附加在神经内窥镜上，与内窥镜协同工作，由多个模块串联而成，通过铰链连接。相较于传统的连续体机械手结构，该新构型在牺牲部分自由度的情况下显著减小了体积，更适合用于颅内小空间手术。其设计允许多关节参与弯曲，使得整体构型能够实现近似常曲率的弯曲，从而简化了运动控制过程。基于该新构型，本文建立了机械臂的运动学模型，并在Matlab软件中进行了仿真运动实验。实验结果表明，该机械臂具有广泛的运动范围，运动死角较少，表现出良好的工作性能。

Abstract: In this paper, a new type of robotic arm structure assisted by neuroendoscopic surgery is designed, aiming to be applied in neurosurgery. This configuration is attached to the neuroendoscope and works in concert with the endoscope, consisting of multiple modules in series and connected by hinges. Compared with the traditional continuous manipulator structure, the new configuration significantly reduces the volume at the cost of some degrees of freedom, and is more suitable for intracranial small space surgery. Its design allows multiple joints to participate in the bending, so that the overall configuration can achieve a bending of approximately constant curvature, thereby simplifying the motion control process. Based on the new configuration, the kinematic model of the robotic arm was established, and the simulation movement experiment was carried out in Matlab software. The experimental results show that the robotic arm has a wide range of motion, less dead Angle, and shows good working performance.