主从式机器人辅助穿刺控制技术研究

发布时间：2018-01-07 08:00

本文关键词：主从式机器人辅助穿刺控制技术研究　出处：《北京交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：现代医疗机器人应用中,机器人辅助穿刺手术成为了研究的热点。有些手术环境辐射大,容易对医生产生危害,医生在穿刺过程中须小心操控手术器械,容易产生疲劳。主从式机器人辅助穿刺系统可以避免医生直面辐射,临场感强,并且能够将精密器械与医生丰富经验结合,提高手术操作精度和质量。论文针对主从式机器人穿刺系统的控制问题开展相关研究,主要完成了以下的工作:首先,主从式机器人穿刺系统硬件平台搭建。主从式机器人在医疗上的应用主要目的是避免医生面对辐射,可以在手术室外对机器人进行操作,在手术室内从手根据医生的操作进行同步运动,进行穿刺实验。根据实验的精度和可操作性的要求,搭建了主从机械手实验平台。其次,主从式机器人穿刺系统控制算法研究。由于穿刺的组织器官是非均匀的粘弹软组织,在力作用下会发生移位和非线性变形,且穿刺过程中通常会经过不同层次的器官组织。这里,研究滑模变结构控制和阻抗控制策略,根据穿刺猪肝脏的分层情况,进行了系统仿真,调整参数降低主从机械手位移和力跟踪的误差,保持主从机械手运动的一致性。最后,对明胶,猪肝脏和五花肉进行穿刺实验。利用C++语言设计实现控制算法,进行主从式机器人穿刺,采集实验数据,验证主从手力和位移运动上的一致性以及阻抗控制效果。系统利用一类新型光纤传感器,实时测量穿刺针尖上的作用力,并反馈于阻抗控制器,实现机器人针穿刺力反馈控制,提高穿刺安全。论文的相关工作将为医疗机器人尤其是穿刺辅助机器人的研发提供理论和技术基础,推动主从式医疗机器人研究的发展。
[Abstract]:In the application of modern medical robot, robot-assisted puncture surgery has become a hot spot. Some of the operation environment radiation is large, easy to cause harm to doctors, doctors must carefully control the surgical instruments in the process of puncture. It is easy to produce fatigue. The master-slave robot assisted puncture system can avoid the doctor's direct radiation, strong sense of the field, and can combine the precision instrument with the doctor's rich experience. To improve the accuracy and quality of operation. This paper focuses on the control of master-slave robot puncture system. The main work is as follows: first of all. The hardware platform of the master-slave robot puncture system is built. The main purpose of the master-slave robot in medical application is to avoid the doctors face the radiation and can operate the robot outside the operating room. In the operating room according to the operation of doctors to carry out synchronous movement of the slave hand puncture experiment. According to the accuracy of the experiment and operational requirements a master-slave manipulator experimental platform. Secondly. Research on the control algorithm of the master-slave robot puncture system. Because the tissues and organs of the puncture are non-uniform viscoelastic soft tissue, there will be displacement and nonlinear deformation under the force. And the puncture process usually goes through different levels of organ tissue. In this paper, sliding mode variable structure control and impedance control strategy are studied, and the systemic simulation is carried out according to the stratification of the puncture pig liver. Adjust the parameters to reduce the error of displacement and force tracking of the master-slave manipulator, maintain the consistency of the motion of the master-slave manipulator. Finally, the gelatin. Pig liver and pork puncture experiments. C language design to achieve control algorithm, master-slave robot puncture, collect experimental data. The system uses a new type of optical fiber sensor to measure the force on the tip of the needle in real time and feedback to the impedance controller. The related work of this paper will provide theoretical and technical basis for the research and development of medical robot, especially the puncture assistant robot. Promote the development of master-slave medical robot research.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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