用于精确腹腔镜手术的机械臂运动学与工效学设计
Kinematic and Ergonomic Design of a Robotic Arm for Precision Laparoscopic Surgery
AI总结：
本文提出一种用于高精度腹腔镜手术的7自由度机械臂系统，结合远程运动中心与工效学设计，实验证明其显著提升了瞄准精度与任务效率，并降低了操作者的肌肉劳损。
摘要：
微创手术中的机器人辅助能极大提升手术精度并减轻外科医生疲劳。本文针对旨在执行高精度任务的腹腔镜手术机械臂，对其运动学与工效学设计原则进行了深入研究。我们提出了一种7自由度（7-DOF）机械臂系统，该系统在器械插入点引入了远程运动中心（RCM），并结合了工效学考量以改善外科医生的交互体验。该设计在通用机器人平台上实现，并通过一系列模拟手术任务评估了其与传统手动腹腔镜手术相比的瞄准精度、任务效率和外科医生舒适度。实验结果表明，优化后的机器人设计实现了显著提升的瞄准精度（误差降低超过50%）和更短的任务完成时间，同时大幅降低了操作者的肌肉劳损与不适感。这些发现验证了运动学优化（如增加关节和震颤过滤）以及以人为中心的工效学设计在提升机器人辅助手术性能方面的重要性。本研究的见解可为开发新一代手术机器人提供指导，从而改善手术效果并提升手术团队的工效学体验。
英文摘要：
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical robotic arm aimed at high-precision tasks. We propose a 7-degree-of-freedom (7-DOF) robotic arm system that incorporates a remote center of motion (RCM) at the instrument insertion point and ergonomic considerations to improve surgeon interaction. The design is implemented on a general-purpose robotic platform, and a series of simulated surgical tasks were performed to evaluate targeting accuracy, task efficiency, and surgeon comfort compared to conventional manual laparoscopy. Experimental results demonstrate that the optimized robotic design achieves significantly improved targeting accuracy (error reduced by over 50%) and shorter task completion times, while substantially lowering operator muscle strain and discomfort. These findings validate the importance of kinematic optimization (such as added articulations and tremor filtering) and human-centered ergonomic design in enhancing the performance of robot-assisted surgery. The insights from this work can guide the development of next-generation surgical robots that improve surgical outcomes and ergonomics for the operating team.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
