前列腺远心穿刺机构的设计与建模OA

Based on the clinical requirements of prostate puncture surgery,a three-degree-of-free-dom puncture mechanism with a remote center of motion was designed.This mechanism enables the punc-ture needle to perform pitching,yawing,and feeding actions around the puncture point,thereby mitigating the issue of puncture point deviation commonly caused by manual puncture by doctors in traditional surger-ies.First,a kinematic model was established using the Modified Denavit-Hartenberg(MD-H)method to solve the forward kinematics,inverse kinematics,and working space of the mechanism.Secondly,an equiva-lent dynamic model was developed,and the Lagrangian method was used to establish the dynamic equations and calculate the theoretical joint torques.Finally,a typical motion process of the puncture mechanism was simulated and analyzed using ADAMS,and the deviation of the puncture point during the operation was studied.The simulation results validate the accuracy of the developed dynamic model,and confirm that the puncture point deviation remains within a reasonable range.The research provides crucial guidance for sub-sequent studies on trajectory planning,motion joint control,and the analysis of puncture deviation for the proposed mechanism.