绳驱动介入手术导管机器人系统研究

发布时间：2018-06-13 03:51

本文选题：导管机器人 + 运动学　；参考：《南京航空航天大学》2017年硕士论文

【摘要】：介入手术导管机器人作为一种新型的医疗机器人,在医学技术和医疗设备不断进步的今天,得到了快速的发展。导管机器人的研究,解决了传统介入手术中存在的导管导丝可控性差、手术难度较高、手术效果不佳以及手术环境存在大量辐射等问题,实现了由机器人代替医生完成现场操作的远程手术模式。本文设计了一套完整的介入式导管手术机器人系统,系统由机械执行系统和主从控制系统两个部分组成。论文主要就结构设计、机器人系统运动学,静态特性、驱动绳索分析以及主从控制系统设计等方面展开了研究。通过对传统介入式导管的研究,结合绳驱动技术和SMA驱动导管的特点,本文设计了一种新型绳驱动式主动导管。导管由主动导管和普通导管串联组成,通过绳索驱动控制主动导管的位姿调整,实现在血管内的导向。针对快速可重构的要求,设计了用于快速组装和拆卸的连接件结构。在对串联导管工作原理分析的基础上,对导管操控装置进行了设计,由绳索驱动模块和直线推送模块共同完成导管在血管内的前进和导向,搭建了导管机器人机械系统的硬件平台。针对本文所涉及的主动导管结构,建立了单节导管及多节串联导管的正向运动学模型,使用D-H参数法对其正向运动学进行了分析,求解了导管末端的工作空间。对主动导管进行了逆运动学分析和雅可比矩阵的求解。在此基础上对导管进行了静态特性分析,研究了驱动绳索力与导管姿态变化的关系。分析了基于大挠度假设法、直线假设和圆弧假设三种模型下的的导管弯曲特性,并基于大挠度假设方法建立了主动导管的等效杆模型,求解了主动导管弯曲轴线的挠度曲线表达式,推导了驱动绳索绳长变化和驱动力随导管位姿参数变化的表达式,使用有限元方法进行了仿真分析,验证了模型的正确性。规划了导管机器人主从控制系统整体架构,从硬件层到控制层进行了具体的设计。使用了带有力反馈功能的三自由度Falcon操作主手,基于开环增量式控制和空间点对点控制的方法,建立了主从映射关系,并通过运动控制卡和驱动电机实现从手对主手的跟随运动。
[Abstract]:As a new type of medical robot, interventional catheter robot is developing rapidly with the development of medical technology and medical equipment. The research of catheter robot solves the problems such as poor controllability of guide wire in traditional interventional surgery, high difficulty of operation, poor effect of operation and large amount of radiation in operation environment. The remote operation mode is realized in which the robot replaces the doctor to complete the field operation. A complete interventional catheterization robot system is designed in this paper. The system consists of two parts: mechanical execution system and master-slave control system. This paper mainly focuses on structural design, kinematics of robot system, static characteristics, driving rope analysis and master-slave control system design. Based on the research of the traditional interventional catheter and the characteristics of the rope driving technique and the SMA driving conduit, a new type of rope driven active conduit is designed in this paper. The catheter is composed of the active catheter and the common catheter in series. The alignment of the active catheter is controlled by the rope drive to realize the orientation in the blood vessel. According to the requirement of quick reconfiguration, the connection structure for quick assembly and disassembly is designed. On the basis of the analysis of the working principle of the series catheter, the design of the catheter control device is carried out. The cable driving module and the linear push module are used to complete the advance and guide of the catheter in the blood vessel. The hardware platform of the mechanical system of conduit robot is built. According to the active duct structure, the forward kinematics model of single and multi-segment series ducts is established. The forward kinematics is analyzed by using D-H parameter method, and the workspace of the end of the conduit is solved. Inverse kinematics analysis and Jacobian matrix solution of active catheters are carried out. On this basis, the static characteristics of the conduit are analyzed, and the relationship between the driving rope force and the change of the tube posture is studied. The bending characteristics of ducts based on large deflection hypothesis, straight line assumption and circular arc hypothesis are analyzed, and the equivalent rod model of active conduit is established based on large deflection assumption method. The deflection curve expression of the bending axis of the active duct is solved. The expressions of the length of the driving rope and the change of the driving force with the orientation parameters of the conduit are derived. The simulation analysis is carried out by using the finite element method, and the correctness of the model is verified. The whole architecture of master-slave control system of conduit robot is planned, and the design from hardware layer to control layer is carried out. Based on open-loop incremental control and spatial point-to-point control, the master-slave mapping relationship is established by using a 3-DOF Falcon master hand with force feedback function. The following motion of the slave hand to the master hand is realized by the motion control card and the driving motor.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R318;TP242

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