主从式微创手术机器人系统力位补偿研究

发布时间：2018-04-22 20:33

本文选题：微创手术机器人 + 力觉临场感　；参考：《天津工业大学》2017年硕士论文

【摘要】：随着科技进步和社会发展需求,遥操作机器人技术逐渐成为机器人研究的热点,并广泛应用于多个领域。在医疗领域,主从遥操作机器人系统的力觉临场感成为了众多研究者关注的焦点。本文阐述了力觉临场感的研究现状,并针对主从式微创手术机器人系统进行分析,指出了其中存在的两个主要问题:主操作手存在附加反馈力和附加位移。为解决上述问题,本文所做研究工作如下。采用指数积公式对主从式微创手术机器人系统进行了运动学分析,同时对主操作手Phantom Desktop进行了逆运动学分析,并推导了主从操作手的空间和物体雅可比矩阵,为实现基于模型的力反馈运动控制做了工作铺垫。利用旋量理论结合拉格朗日方法,并选择Coulomb+Viscous摩擦模型,从而建立了计及关节摩擦力的主操作手PhantomDesktop的完整动力学模型。将主操作手的完整动力学模型进行线性化处理后,采用最小二乘法对主操作手动力学参数进行了实验辨识,最后通过力矩对比实验验证了主操作手动力学模型的正确性和动力学参数估计的可靠性。分析主操作手附加反馈力和附加位移的产生原因及补偿原理,同时提出了相应的附加反馈力和附加位移补偿策略。利用现有的设备力反馈主手Phantom DesktOp和万用机械手臂WAM arm搭建实验平台并进行了力反馈实验,结果表明主操作手的附加反馈力补偿方法正确且有效。通过建立操作者的手臂模型和模拟真实反馈力,从而对主操作手附加位移进行了仿真实验,结果证明了主操作手的附加位移补偿策略的正确性。采用二端口网络模型对主从遥操作机器人系统进行了分析,在此基础上提出并阐述了系统的三个性能评价指标。分析了主从遥操作机器人系统通用的四通道双边控制结构,并介绍了其应用于不同场合的两种控制结构:基于位置误差控制和直接力反馈控制。将力位补偿控制单元植入直接力反馈控制结构中,组成具有力位补偿的遥操作双边控制体系结构,从而为实现主从式微创手术机器人系统中具有精准力反馈的精确位置遥操作奠定了基础。
[Abstract]:With the development of science and technology and the development of society, teleoperation robot technology has gradually become the focus of robot research, and has been widely used in many fields. In the medical field, the force telepresence of the master-slave teleoperation robot system has become the focus of many researchers. In this paper, the research status of force telepresence is described, and the analysis of master-slave minimally invasive surgical robot system is carried out. Two main problems are pointed out: the additional feedback force and additional displacement of the main manipulator. In order to solve the above problems, the research work done in this paper is as follows. The kinematics of master-slave minimally invasive manipulators is analyzed by exponential product formula, and the inverse kinematics of Phantom Desktop is analyzed. The space and object Jacobian matrices of master-slave manipulators are derived. In order to realize the force feedback motion control based on model, the work is done. By using the spinor theory and Lagrange method, and selecting the Coulomb Viscous friction model, a complete dynamic model of the main manipulator PhantomDesktop with joint friction is established. After linearization of the complete dynamic model of the main manipulator, the dynamic parameters of the main manipulator are identified by the least square method. Finally, the correctness of the dynamic model of the main manipulator and the reliability of the estimation of the dynamic parameters are verified by the torque contrast experiment. The causes and compensation principle of additional feedback force and additional displacement of main manipulator are analyzed, and the corresponding compensation strategies of additional feedback force and additional displacement are put forward. The experiment platform is built by using the existing equipment force feedback master hand Phantom DesktOp and universal manipulator WAM arm. The results show that the additional feedback force compensation method of the main manipulator is correct and effective. By establishing the arm model of the operator and simulating the real feedback force, the simulation experiment of the additional displacement of the main manipulator is carried out, and the results show that the compensation strategy of the additional displacement of the main manipulator is correct. The two-port network model is used to analyze the master-slave teleoperation robot system. On this basis, three performance evaluation indexes of the system are proposed and expounded. This paper analyzes the general four-channel two-sided control structure of master-slave teleoperation robot system and introduces two control structures which are based on position error control and direct force feedback control. The force compensation control unit is implanted into the direct force feedback control structure to form a two-sided control system structure for teleoperation with force position compensation. It lays a foundation for precise position teleoperation with accurate force feedback in master-slave minimally invasive surgery robot system.
【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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