中文摘要：

面向血管显微外科手术，研究开发了一套具有交互夹持力感觉的主从触感装置．提出了主操作手的基本设计原则，并应用可操作性基本原理与方法进行机构构型综合，设计了主操作手的夹持力感觉装置；建立了主操作手的多体动力学模型，对运动过程中各关节动态特性进行仿真验证；基于夹持力的数学模型，分析了手指系统在不同模式下夹持力与运动关系．对整套系统进行性能测试与动物实验研究．实验结果表明：主操作手基于可操作性原理的综合构型具有较好的动力学特性，适合医生操作；手指的夹持力与两弹簧的弹力差成正比；该装置能够实现主从操作下的交互夹持力感觉．

英文摘要：

A master-slave haptic device with gripping force feedback for the microsurgery of the blood vessel is presented. Firstly, the basic design principles for the master manipulator are proposed and the mechanism design, especially the design of the haptic device, is synthesized considering the principles and the theory of the manipulability. Secondly, a multibody dynamics model of the master is built to validate the dynamic characteristics of the joints through simulation. Correspondingly, the mathematical model of the gripping force for the finger system is built to analyze the gripping force and motion under different modes. Finally, the performance of the system is tested and an animal experiment is carried out. The results indicate that the master manipulator, a synthesized mechanism based on the principles of the manipulability, has preferable dynamic characteristics and is suitable for doctors to operate; the gripping force is proportional to the force difference between two springs in the finger; this haptic device can realize the interactive gripping force sensing under the master-slave manipulation.