中文摘要：

针对目前微创手术机器人定位系统中,由于电磁定位技术在实际应用中出现定位误差大的问题,提出了一种六自由度电磁定位系统的实用设计。对在设计的空间范围内进行仿真,分析了激励系统中线圈在空间产生的磁场及其几何尺寸的优化,利用四元数的快速迭代特性和计算过程无奇异解的特性实现线圈姿态变换,创建了定位系统设计的操作平台,并进行计算仿真比较,结果表明,改进实用模型可行可靠,定位系统可以达到1 mm的定位精度,可有效地克服线圈的有限长效应引起的偏差大,并能够提高微创手术定位的实用性。

英文摘要：

According to the problems arising in the actual application of the current positioning system of minimally invasive surgical robots,this paper put forward a practical design of the six degrees of freedom electromagnetic positioning system. By simulating the system within the scope of design,analyzing the magnetic field in space produced by the coils in its excitation system and optimization of its geometrical size,realizing attitude change of the coils with the rapid iteration of quaternion and the characteristic of no singular solutions in the calculation process,establishing an operation platform for the positioning system and carrying out the calculation and simulation comparisons,the design shows that the model is feasible and reliable,and the positioning system can realize the positioning accuracy of1 mm to minimize the big deviation effectively caused by the limited length effect of the coil and can improve the practicability of minimally invasive surgical positioning.