基于模型的力反馈主手力位补偿研究

发布时间：2018-08-29 08:25

【摘要】：微创外科手术机器人已成为力反馈遥操作机器人研究中的一个热门研究领域,并且在未来的医疗服务中更具价值性和应用前景。真实的力觉感知与对运动位置的精确遥操作是微创外科手术极为重要的两个方面,其直接影响到医生能否真实感知手术器械与患者组织之间的相互作用力,从而更好地更安全地操作力反馈主手,实施恰当的力控制行为。目前微创外科手术机器人系统存在的主要问题是缺乏力觉临场感,存在着主手附加力和主手附加位移,使医生不能真实的感知反馈力信息以及对运动位置的精确遥操作,从而降低了微创外科手术的质量、精度与安全。本文针对上述问题,对力反馈主手附加力以及附加位移进行补偿,从而消除主手附加力对医生感知反馈力造成的影响以及消除主手附加位移对从手精确定位的影响,进而提高微创手术的质量和安全。本文的主要研究工作如下:首先,基于Kane方程推导了力反馈主手的动力学模型。建立准确的完整力反馈主手动力学模型是实现主手精确力反馈的重要前提,也是操作者感知真实反馈力信息的重要基础。利用Kane方程动力学建模方法,建立计及力反馈主手的连杆重力、关节摩擦力以及惯性力的完整动力学模型,为基于动力学模型的主手附加力补偿奠定基础。然后,进行了基于模型的力反馈主手附加力补偿策略的研究。在微创外科手术中,使医生获得良好的力觉临场感,感知真实的反馈力信息对整个微创手术过程中是极为重要的。基于力反馈主手的完整动力学模型,建立了力反馈主手的重力补偿模型、关节摩擦力补偿模型以及惯性力补偿模型,通过主手附加力补偿策略,消除因力反馈主手动力学特性对医生感知反馈力造成的干扰,以实现医生的真实力觉感知,从而实施恰当的力控制行为,提高手术的精度、质量与安全。最后,对反馈力对主手生成遥操作位置指令的影响进行了分析,并确定了主手附加位移补偿策略。分析了微创外科手术机器人系统在位置-力控制结构下产生的主手附加位移,产生的主手附加位移使得主手生成了不精确的位置指令,最终将引起微创外科手术机器人系统运动位置的不精确遥操作。仿真结果表明:因反馈力引起的主手附加位移对主手生成遥操作位置指令的产生较大了影响,易造成医生对手术器械的不精确遥操作。此外,建立了主手附加位移补偿模型并确定了主手附加位移的补偿策略,通过主手附加位移补偿策略消除主手附加位移对手术器械精确定位的影响,实现对主手附加位移的补偿。
[Abstract]:Minimally invasive surgical robot has become a hot research field in the field of force-feedback teleoperation robot, and it has more value and application prospect in the future medical service. Real force perception and accurate teleoperation of motion position are two important aspects of minimally invasive surgery, which directly affect the doctors' ability to truly perceive the interaction between surgical instruments and patient tissues. In order to better and more safely operate force feedback master hand, the implementation of appropriate force control behavior. At present, the main problem of the minimally invasive surgical robot system is the lack of force telepresence, the presence of additional force and displacement of the main hand, which makes the doctor unable to truly perceive the feedback force information and the precise teleoperation of the motion position. Thus, the quality, accuracy and safety of minimally invasive surgery are reduced. Aiming at the above problems, this paper compensates the force feedback main hand additional force and the additional displacement, thus eliminating the effect of the main hand additional force on the doctor's perceived feedback force and the effect of the main hand additional displacement on the accurate positioning of the slave hand. And then improve the quality and safety of minimally invasive surgery. The main work of this paper is as follows: firstly, the dynamic model of force feedback master hand is derived based on Kane equation. The establishment of an accurate dynamic model of the master hand with force feedback is an important prerequisite for the accurate force feedback of the master hand and an important basis for the operator to perceive the real feedback force information. By using the dynamic modeling method of Kane equation, a complete dynamic model of connecting rod gravity, joint friction and inertial force with force feedback is established, which lays a foundation for the additional force compensation of the main hand based on the dynamic model. Then, the model-based force feedback force compensation strategy for the main hand is studied. In minimally invasive surgery, it is very important for doctors to obtain a good sense of force presence and to perceive real feedback force information in the whole process of minimally invasive surgery. Based on the complete dynamic model of the force feedback master hand, the gravity compensation model, the joint friction compensation model and the inertia force compensation model are established. The interference caused by the force feedback main hand dynamics to the doctors' perceived feedback force is eliminated in order to realize the doctors' perception of true strength, so as to implement the proper force control behavior and improve the accuracy, quality and safety of the operation. Finally, the influence of feedback force on the position command of the main hand is analyzed, and the compensation strategy of the additional displacement of the master hand is determined. In this paper, the additional displacement of the main hand generated by the position force control structure of the minimally invasive surgical robot system is analyzed. The additional displacement of the main hand makes the master hand generate imprecise position instructions. Finally, the motion position of the minimally invasive surgical robot system will be inexact teleoperation. The simulation results show that the additional displacement of the main hand caused by the feedback force has a great influence on the generation of teleoperation position instruction by the master hand, and it is easy to cause the inexact teleoperation of the surgical instrument by the doctor. In addition, the compensation model of the additional displacement of the master hand is established and the compensation strategy of the additional displacement of the master hand is determined. The influence of the additional displacement of the master hand on the precise positioning of the surgical instrument is eliminated by the compensation strategy of the additional displacement of the master hand. The compensation of the additional displacement of the main hand is realized.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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