面向单孔腔镜手术的连续型机械臂及其运动建模的研究

发布时间：2018-05-14 04:18

本文选题：单孔腔镜手术 + 连续型机械臂　；参考：《哈尔滨工业大学》2016年博士论文

【摘要】：微创手术机器人呈现出的更微创、高精度、小型化、高集成化发展趋势,使微创手术机器人系统设计与集成难度加大,不可避免的要在机器人驱动方式、关节与传动结构设计上进行创新;小型化、集成化的机器人创成和新型关节形式的引入增加了机器人系统设计、系统模型表达与优化设计等关键技术的难度,这些问题已经成为目前医疗机器人领域的研究热点和难点。本文结合国家自然基金项目,对面向单孔腔镜手术的机械臂设计,以及连续型机械臂设计、结构优化、力学模型、运动学模型以及驱动迟滞模型等关键问题进行研究。针对单孔腔镜手术的操作环境及操作方式,研制了面向单孔腔镜手术的16自由度机械臂,设计了一种新型的切口式连续型结构,并采用多关节连续型结构作为所设计手术机械臂的位置定位机构。此外,设计了新型的钢丝绳绕线轮组机构,研制出一种小型化、并能与连续型机械臂高度集成的4自由度拟人化手术器械。根据集成后的连续型机械臂和末端微器械的驱动方式和关节布置方式,对关节间驱动解耦模型进行了研究,解决了连续型机械臂各关节间以及末端微器械关节间的驱动耦合问题。针对切口式连续型机械臂的非等曲率变形问题,建立了一种基于Timoshenko梁模型的切口式连续型机械臂力学模型。基于ANSYS仿真分析的切口式连续型机械臂变形规律,建立了基于切口变形单元力学模型的连续型机械臂的整体力学模型,考虑了切口变形单元在变形过程中的相互耦合作用,及驱动丝对机械臂侧向作用力对机械臂整体形状的影响。通过该力学模型能够实现驱动空间的驱动力和关节空间以及子关节空间关节角度的映射。对不同切口数量的连续型机械臂样机进行了弯曲实验研究,验证了所建立力学模型的有效性。针对连续型机械臂多冗余度特性对运动学模型求解造成的影响,建立了基于离散关节假设的切口式连续型机械臂运动学模型。根据机械臂的变形特性将整个机械臂进行离散化处理,结合力学模型信息建立基于D-H方法的正运动学模型和基于拟合数据的逆运动学模型。解决了连续型多冗余度机器人正逆运动学求解问题,利用原理样机实验验证了运动学模型的正确性。在此基础上,建立了考虑机械臂变形单元刚度性能和机械臂运动性能的切口式连续型机械臂优化设计模型,采用NSGA-II遗传算法对机械臂参数进行了多目标优化求解,使机械臂的变形能力及运动性能能够同时达到最优,仿真分析验证了参数优化的有效性。针对钢丝绳驱动的切口式连续型机械臂在驱动过程中存在的驱动迟滞问题,建立了一种基于非线性Bouc-Wen模型的连续型机械臂迟滞模型。首先分析了不同钢丝绳预紧力下的连续型机械臂弯曲变形现象,对机械臂的迟滞特性进行分析,建立了钢丝绳驱动连续型机械臂非线性迟滞模型。根据实验测得的机械臂变形数据对非线性迟滞模型进行了参数辨识,并对实验测得数据与Bouc-Wen模型仿真数据结果进行对比,结果表明该模型能够模拟连续型机械臂的非线性迟滞特性,为连续型机械臂的实时控制模型奠定了基础。为验证所研制单孔腔镜手术机械臂的功能性和操作性能,开展了面向单孔腔镜手术的16自由度机械臂实验研究。对连续型机械臂单关节、多关节联合运动、双臂联合运动、机械臂关节解耦运动、机械臂重复定位精度及末端微器械机构进行了实验测试,实验验证了所研制机械臂具有空间定位能力、末端精细化操作能力和较好的灵活性。在腔镜手术模拟器中开展了16自由度机械臂操作实验,实验结果表明所研制的16自由度机械臂能够实现单臂和多臂协调操作功能,具有较高的操作性能及运动灵活性。
[Abstract]:The minimally invasive surgery robot presents a more minimally invasive, high-precision, miniaturized, and highly integrated development trend, making the design and integration of the minimally invasive surgical robot system more difficult. It is inevitable to innovate the robot driving mode, joint and transmission structure design, miniaturized, integrated robot creation and the introduction of new joint forms. The difficulty of the key technologies, such as robot system design, system model expression and optimization design, has become a hot and difficult problem in the field of medical robotics. This paper combines the national natural fund project, the design of the manipulator to the single hole mirror operation, the design of the continuous manipulator, the structure optimization and the mechanics. The key problems such as model, kinematics model and driving hysteresis model are studied. In view of the operating environment and operation mode of single hole endoscopic surgery, a 16 degree of freedom manipulator for single hole endoscopic surgery is developed. A new type of incisional continuous structure is designed and a multi joint continuous structure is used as the designed surgical arm. In addition, a new type of wire rope winding mechanism is designed, and a miniaturized and 4 degree of freedom anthropomorphic surgical instrument, which can be integrated with a continuous type manipulator, is developed. The decoupling model of the inter-joint drive is carried out according to the driving mode of the integrated continuous manipulator and the terminal micro device and the connection arrangement. The driving coupling problem between the joints of the continuous mechanical arm and the joint of the terminal micro device is solved. In view of the non ISO curvature deformation of the incisional continuous type manipulator, a mechanical model of the incisional continuous mechanical arm based on the Timoshenko beam model is established. The incisional continuous machine based on the simulation and analysis of the ANSYS is used. The mechanical model of the continuous mechanical arm based on the mechanical model of the incisional deformation unit is established. The interaction of the incisional deformation unit in the deformation process and the effect of the driving force on the overall shape of the manipulator on the manipulator arm are considered. The driving space can be driven through the mechanical model. The mapping of the force and joint space and the angle of the space joint of the subjoint. The bending experiment is carried out on the prototype of the continuous mechanical arm with different number of incisions, and the validity of the model is verified. In view of the influence of the multi redundancy characteristics of the continuous manipulator on the kinematics model, the discrete joint hypothesis is established. The kinematics model of the incisional continuous robot arm is discretized according to the deformation characteristics of the manipulator, and the forward kinematics model based on the D-H method and the inverse kinematics model based on the fitting data are set up based on the information of the mechanical model, and the problem of the forward and inverse kinematics of the continuous multi redundant robot is solved. The correctness of the kinematic model is verified by the prototype experiment. On this basis, an optimized design model of the incisional continuous mechanical arm, which considers the stiffness performance of the manipulator's deformation unit and the motion performance of the manipulator, is established. The NSGA-II genetic algorithm is used to optimize the parameters of the manipulator and make the deformation ability and movement of the manipulator. The performance can be achieved at the same time, and the effectiveness of the parameter optimization is verified by simulation analysis. In view of the driving delay of the incisional continuous type manipulator driven by wire rope, a nonlinear Bouc-Wen model based continuous mechanical arm hysteresis model is established. First, the pre tightening force of different wire rope is analyzed. The hysteresis characteristics of the manipulator are analyzed, and the nonlinear hysteresis model of the continuous type manipulator is established. The parameters of the nonlinear hysteresis model are identified according to the measured data of the manipulator deformation, and the data obtained from the experimental data and the results of the Bouc-Wen model simulation data are carried out. The results show that the model can simulate the nonlinear hysteresis characteristics of the continuous manipulator and lay the foundation for the real-time control model of the continuous type manipulator. In order to verify the function and operation performance of the single hole endoscopic surgery manipulator, the experimental study of the 16 degree of freedom manipulator for the single hole mirror operation is carried out. The arm single joint, joint movement of multiple joints, the joint motion of two arms, the decoupling motion of the arm joint, the precision of the repetitive positioning of the manipulator and the end micro device were tested. The experiment proved that the developed manipulator has the ability of space positioning, the fine operation ability and the better flexibility of the end. 1 The experimental results of a 6 degree of freedom manipulator show that the developed 16 degree of freedom manipulator can realize the coordinated operation of single arm and multi arm, and has high operating performance and motion flexibility.

【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP241

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