7自由度机械臂提升腹腔镜手术精度与医生舒适度
Kinematic and Ergonomic Design of a Robotic Arm for Precision Laparoscopic Surgery
- 7自由度机械臂结合远程运动中心与人体工学设计
- 定位误差降低超50%，操作时间缩短，肌肉疲劳显著减少
- 适合追求高精度与人机协同的下一代手术机器人研发
机器人辅助微创手术可显著提升手术精度并减轻术者疲劳。本文聚焦于面向高精度任务的腹腔镜手术机械臂的运动学与人体工学设计。提出一种在器械插入点集成远程运动中心（RCM）的7自由度（7-DOF）机械臂系统，并融合人体工学考量以优化术者交互体验。该设计部署于通用机器人平台，通过一系列模拟手术任务评估其靶向精度、任务效率及术者舒适度，对比传统手动腹腔镜。实验结果表明，优化后的机械臂系统使定位误差降低超过50%，任务完成时间更短，且大幅降低操作者肌肉负荷与不适感。研究验证了运动学优化（如增加关节自由度与颤动滤除）及以人为中心的人体工学设计对提升机器人辅助手术性能的重要性。研究成果可为下一代手术机器人的开发提供指导，以改善手术效果与术中团队舒适性。
原文摘要 · Abstract (English)
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.
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