微创手术机器人主从控制系统构建及实现分析-construction and implementation analysis of master-slave control system for minimally invasive surgical robots.docxVIP

AbstractInrecentdecadesminimallyinvasivesurgeryrobotisbecomingtheworldsresearchfocusofmedicalroboticsrisingfromcombiningroboticswithminimallyinvasivesurgerytechniques.Ithastheadvantagesofhighprecision,operatingflexibility,lowlaborcosts,remotecontrolandsoon.Theresearchofitscontrolsystemisthecoreofthetechnology.Thispaperisbasedonthepatternofthemaster-slaveroboticminimallyinvasivesurgery.Dependingonkinematicanalysisofslavehandmanipulatormodel,master-slavecontrolsystemisdesignedandconstructed.Itiscombinedwithmeasuresrelatedtosecurityandstability.Themaincontentisshowedasfollowed:Firstly,thispaperanalysisslavehandmanipulatormode,andthenestablishaD-Hcoordinatesystemtostudytheforwardandinversekinematicsproblem.Thispaperusemulti-jointbundlingmodetoanalysisandcomparevariouskinematicsolutionmethod.ThispaperapplieskinematicsmethodforinverseJacobimatrixtoavoidtheproblemofmultiplesolutionsandverifythefeasibilityofthemethodthroughtheprogram.Secondly,thispaperestablishesthemaster-slavemappingmodelandgivesmaster-slavecontrolstrategybasedonkinematicsolution:positioncontrol,posturecontrol,strokeratiocontrol,themasterhandadjustmentcontrol,errorfeedbackmethod.Multi-armcollisiondetectionmethodisdesignedtoensurethesecurity.Digitalfilterisusedtofilterinvalidjittertoensurethestability,andmeanwhiletraditionaljointtrajectoryplanningisoptimizedtoimprovecomputationalefficiency.Thirdly,thispaperdesignfunctionallogicandconsolehardwarestructureformaincontroller,buildslavehandmotorcontrolsystem,developmonitoringandsimulationplatformforcontrolsystemusingC#,MATLABandSharpGL.Finally,thispaperconnectssoftwareandhardwarecontroltotestandverifythefunctionbyexperiments.Inordertotestthemaster-slavecontrolmethodinthispaper,thispaperextractsandanalyzescharacteristicdata.Themaster-slavecontrolsystemforminimallyinvasivesurgeryrobotwithfriendlyinteractiveinterfacewhichachievescontrolfunction,datamonitoringandanimatedsimulationmeetstheneedsofactualsurgery.Therefore,thisstudyhassomepracticalsignificantvalue.Keywor