介入手术医疗机器人定位臂控制系统设计说明书

- 1 q+p-$,EL-pj_,FOk+j_LW,k+j,k?+X)B_j_0k+j_j656_,k+E0;Lf_.4*6_1_,?KT_,*)j_E0;,|C)| 1,_-(j_9;H& 1Fk+OX44);_6Jj-(E659$j,J)WFJh;!0/_,j5?)k?k+jX_k+O,1k?,F ,fNO,x0)K_3+5-$+X65p,_,3+5,W 2+a?KT_,?7D8$k+O,0L$W?,fK_?-$,1F7F|+Mh&#k,=C+a_7,0L$W?(,Lfk+O,7-_:;#F*E,E1|,P81y6|?0L$,_k+OC+O+a+V,=F6_-(Ek+X?KT_F|_&6644,+XFgaCT656644F3P=&K_,&L$6_j 2006 8G#kL0,_jF|P 2007 9!-y0(k_j 5X- , k+j,C4M, , D03+G,G8Wjp0F0;FOk+Xj3+53+5k?+a95164 , 95$+&EE,_M&._3+5Z=r!F0_iA_,* Q?_&+d:C+X,Hv , E_2.B3+5)Jd_:#.Df*,7-?3+5k?+X#K# , 1?#KTW#G=652h+,1y:13+55+O(F#7&Fj?4*611y , )$Y+l,#:#WWL867-j|2l,!F , -,050Wjn_3+5D%JWG8W8.Df,F!Pj3+5G8W.Df,70+=n_j$5W.Df,/4=j , 0Wj0,_j3+51yk?j_j53+5*k?5;1. )j,7|6.j7,8+a-2. j7,)fPF|B4,3. j5,85HFh?|M&G&,)+ejP?,- 3 -2ep315-_,KT+,k4_CXd+X4,xv_)9,_x=4J)_X,L6j_E_7-Oj_?939)k+O,44Q_6e,*_M_7k+OX 3+5,_1;,10/V9JW,E1XF)+&F|+$pCC+P)0_-(_=006pA+AM_=1yH& 8_k?!. 2.1p/j. _#0F28,/0F?,6FMX_;6,15CAFCX 3+5E,;?,1,D1F,55#,1&DX 3+5-;,1+L$4L$1e ;EX 3+5-;79)04_ ;FX 3+5-;|79,T - 4 ep315|_j3+597h6j9Z Qj|_,8Z_3+55j| Qk?561j71Fj_,8k?5 G5?D565f6j_,08#;Ox.,8Z QY+X G5_k95$.Y+X?D5)_5$._95$k.,&8#,1,595$,8Zfk+OXff+,1,Qj,FEF)F|#565j| Q,j71,1FjX.,8Z Q,-;8,1&G_k+j7*%r,3+5fx)j,7|6.j7,8+a-j7,- 5 -)fPF|B4,j5,85HFh?|M&G&,)+ejP?,j_j4*6f,k6N,fx?B7EjOK,jF)jF2.,5fff6j3+5,|jJ)_k+j7463)p,-(G+X58+a,7xG+X 63?f3+.&x63?f08G+X:;j463?5:1*6FEF)?;j+aJZ !Z f0Z8FF :?-(63+F/5,ffnQ_0/E*6#,jf? 9i_E0;,_M0r_0L$_WMW5,84/,H&. 5f )+63?f3+.&x. 2.3p/j:fP j=+ej Pj 8 1jP j=+ej Pj 8 5.8 2. 5v+5G+X:;j64f? Q j;j)j74Z8,5j=fFf f+ej,5 f,fP+ej,FFg,*6A_:j790c,JM,fx- 6 -. jfx+. fx+.|P7-+ef f 3ej9fFJ+n+ej+ef+ej+ef 0 +e |LLf, fDP+e$ K5jU05+ePf+e 24V. 2.5j +. + 7 -+., +eP+e+e$ R2j +5 F 7j+Xq+ev+a!4+X,_9g,p=G+X 08+e. P+ejy+4. P+ejy+4.F+|k?8,+O)FO,)(*fX-Ff6f-(98,0nW)X(1) .&5,0nW(2)E&5,0nW(1) .&5,0nW)X1)4/j=3+5, 8 2,+X=4/ QF,-$#q9g-$#qg,j=+ejj=P!F+e-(F3+5,PG62)4/#s&,2M:4/#q|,j#s&F|5y+#ejy5E1y3) PCj,?: j,+X!99/5b (*, ?4)G=|(2)E&5,0nW)X1) j+|M,)F0 ;,P0;50 ;F1K.) ;,j+|M2) 7-,)F0n0*7-7L8-$46Wg45)?F|1y*7*f+X!, G M 7-3) f,)F0n4/? I )Z,f,)B|10k. 2.7p/j. k- 9 -. ( &,c0. EP10 E*6v.(1) kj,F?Y+6:k (2) k0*,_ 5 I/O-(,y+e$,F QF6 1+ej+X+0Z_ 9X4*6 8E,;+XjF0) 5E ,7-*-(+_y+,p0Z)0,+e$nX : +12+15V 15 V Q+e$,6-$+e$5(4) F!Z TZ +5V T :+5V X 1 2J:X 3 4J:=+ej,5F08$,?08$, A B!,4-,J:(5) FP+a =7-j+e|Ap0Z Qf+ejF_1,_,F+a+X/nWj7,PG+X1f)+X 1,1f XnW,: XnW,fF4:;0(6)LF (+ j!Z+ejTj|0;0fX+ej&Nj+eey+,y41:+e#qF0Z|0;0F_9AW,6|0;f,A,W08,-(!A,|0;0X :A,|0;0X +:,AiFx|0;0,40|4=.B 13L0& !|0;A,L0,!X0C- 11 -+0;A,L0,!X0CL0, :9#+7 Q+(L0,X4:=+0LX Q:&L7-(7) nW7WJnW90Z7-/7-,fnW a_j!9=+X05)lf,nWF V/+0FnWX7 _0e0D0Z:+Q 15V(8)M&0FM&0: QL$0N_= = 1 0Z,3+5Ff58#,F=?,?u+O&L0?3+5G+X,91)L.&,V:+X.&L0E&X ,5&0;F|2)LF|=80;F& f6!+Xgy,LE0;lZ73+,F6Jl6?1XL3)DL8$L5)5,%NAla90;*KI+ej+ejF/+OX5O#a&ej+O&kAzL5 fkjF65#Az*)0$D4)nW7-/!*ZnW,)F4 fX*&Ff+O84nW,3+5-G,!|5)2F04:,4!N,73+,p9E,F1FE5CX&;6DEF)+ 2 ,f0Z 5)j=%#%#_5!Z+ej, I , (“P0 3+5,JW6, (“D”0 0c,Lkl06, (“I0 L0c1B 06,_0;9_Xj 0 &9xFO, (A+2 -Lkl (! )E,DLBO, (AF#L+a3+5W (! )V,DLB (:M, “x/ 1 2 3 41y ) 15X:F , E0;J)3+5F|X=),1(W=_,*6!*_j,3+5vJ)_k+j7G+X 63?f3+.&xB44P,* - 13 ep5)_j,5_+a7764,7C+X781F|/1,k?+X_0AZ_E0;F+W,p75xXj_3+5j7,+_9?,/1)1Fj,1)_,6)j7,*;?r 1)j,7|6=5F1FAEF!.7j7,8+aj8+a 2j71A 2 3j71M 100 493$ 3000000 512 680W 5/ep7_,j7k?+a77647,+X_671_,56|_,AF6X_,F?=_,?r+X_671?B&!)7*;?r 1)EQ,2 2X0L$,;jj( 37-O 2j7-O)0L$+?5,F78#A7 3 a+a P0+8 RE84J)4/51.,687j5,85HF)_),?r)1 2_51. . 3.2p/j- 14 -. 751. . 757,j7%j6-$4FjEFj,j(K.7-)F,F108jEF18v%j198vjV|,F9Z8,6)0L$,+?58P-h+X,P9+eP#PDP1y+eP+X#)Q2ECf+eP6q+ej#q+ejj=+ej!F+ej-$#q+e+ej(W#q+e12=QC+O_!F+ej_-$vN#W=+XXk+j5,:4/+ej,(&+X+eDik+),(!?-$#qj=+ej8Vi_k+j,rk+),(!?r)Pj*;?rX)P,;53W!EE0;0|0;,52?7,8,E.WG+X7E8-(6/1%7-?r8,W?7,5. 3.8p/j. 785 2K 3KK EE *3E *3E 6?7) 7_1 8.K 9K !*3E11E1- 12E+XiWQ8 130 -d=J 14K 158 d=J 17=v0 -1 *3E 19M 20.P=! 21=E 22=J 23L$F 243W=J 250 -d=J 26+ej- 27.d=J 29.+e 30. 31.?7Fv32.v XiWQ8 34W(w 35Fv=! 36.=J37_v 38?7- 17 -W?7%jjEF -8 1-(F!*3EK 4jk?98 &45KK 0$!*3E-(F9L$F1+X_)+e|PMM:9P=!P=!M0 -1)F1,01K FX+ejEM#,;j,MW6M+ej,F!#415T5-(5-(5DX?7,178-(F,5. 3.9p/j1.: 2.; 3. Z.3W=C. 5.Xj7,;63j7L$?4h!66,Fj,:j7,1F;Fj-(F;j(n3W=C ZK0AFgG64F(13W=CA;F& ZK0!&66/1Ox._j,x.48,P?P?W?78+ej,)W?78F|B45)B4- 18 5 Aj_9*pAKT?_=&6_9,)?yi_)1j,7-?r*8+ajxB4F jj,.P,P?,.+ej,j5,B4G+X 3?fx.&x-)_j,D,5Xd+X=x9W,- 19 69)d101y .k?Fj,(K J.j ,2000,22(7):8932)$#,)J KK_k?j5J,2006,1 2O .3 ,8 .+ej3+5+XK_,J. -k+ ,2000,24(5):2834 ,0 , .k+j5,F J.j ,2003,25(2).5,of 002:18826000,61870 8Z,jK_3+5JD%JWjpUD% 2004 5 12P?H$PD0/8=j,JGJW2009.(3):282*- ,+A ,P_j,K_6 J 1.G#k/4G 2.G8WjpG 2009.(4):3030P8m*j?,8j,J-JWLG2010.(1):891 , 0 , _j_)(K