Design and Simulation of a Multibody-based Puncture Surgery Robot
Minimally invasive puncture surgery is an important approach for diagnosing and treating tumors.In response to the requirements of MRI compatibility and puncture precision for puncture surgery,this paper introduces a 2R3T parallel flexible cable-driven MRI-compatible puncture positioning surgical robot,which can enhance puncture precision and reduce surgical time.Firstly,the overall structure design of the puncture surgical robot is performed,along with forward and inverse kinematic analysis and trajectory planning.Subsequently,with the aid of Multibody modeling tools,the modules of the robot are constructed to establish the robot's kinematic model.Finally,the kinematic model is combined with the Multibody virtual prototype model for simulation,and the simulation results demonstrate the accuracy of the kinematic model and the rationality of the design.The modeling and simulation process using Multibody is of great significance for teaching robot kinematics and dynamics simulations.
minimally invasive puncture surgerypuncture surgery robotmodeling and simulation
万方数据
维普
