介入导管机器人的可重构特性研究
发布时间：2018-10-15 08:54
【摘要】：微创介入手术以其创伤小、恢复快、效果好,成为近年来研究的热点。本文将在人体管道内介入操作的应用背景下,研究一种可重构的导管机器人及其仿真软件。该系统通过弯曲单元数量的增加、控制精度的提高来降低手术技术门槛;通过结构重构,满足手术环境变化对导管机器人结构的不同要求;采用自主运动规划算法实现对导管机器人的操作与控制,从而将医生从强辐射的手术现场解放出来。本项目提出的导管机器人系统,对人类生命质量的提高有着极其重要的意义。本文首先通过模态函数法和直线/圆弧法建立管道模型的数字化描述方法,将手术任务要求、管道约束、障碍约束统一于对管道模型的描述与修改中。针对人体管道内介入操作需要,提出了可重构导管机器人的基本模块组成。并针对典型介入手术环境特征,建立机器人系列化和结构重构统一算法。接着,基于运动等效法推导出单个弯曲单元操作空间、关节空间和驱动空间的映射关系;研究超冗余自由度链式系统的正向运动学可重构建模算法;基于管道描述模型,分别就环境管道外和环境管道内,研究超冗余自由度链式系统的逆向运动学可重构建模算法;针对弯曲单元关节变量的强耦合关系,基于螺旋理论建立可快速扩展的广义雅克比矩阵;分析了机器人的奇异性,建立了灵巧性、通过性的性能评价指标;针对典型介入手术任务,建立了自主运动规划算法;研究了此结构下的非线性方程组求全局最优解时初始值选取的原则。然后,基于C++语言和Open GL的API,在QT5.7平台上编制了机器人三维仿真软件SurgicalRobot。软件包括任务规划、结构重构、运动学、三维仿真等模块。最后,运用三维仿真软件SurgicalRobot和MATLAB进行了手术任务约束下导管机器人的结构重构仿真,验证了可重构导管机器人基本模块中导管推送作业对扩大可达工作空间,扭转操作对扩大灵活工作空间的作用。基于该软件平台,对任务约束下机器人结构重构、运动学模型构建与任务规划算法的正确性与快速性进行了验证。
[Abstract]:Minimally invasive interventional surgery has become a hot research area in recent years because of its small trauma, quick recovery and good effect. In this paper, a reconfigurable conduit robot and its simulation software are studied under the background of human tube interventional operation. The system reduces the threshold of surgical technology by increasing the number of bending units and improving the control precision, and meets the different requirements of the structure of the catheter robot by the structural reconstruction of the operation environment. The autonomous motion planning algorithm is used to realize the operation and control of the catheter robot, thus freeing the doctor from the strong radiation operation site. It is of great significance to improve the quality of life of human beings by using the catheter robot system proposed in this project. In this paper, the digital description method of pipeline model is established by means of modal function method and straight line / arc method. The operation task requirements, pipeline constraints and obstacles constraints are unified in the description and modification of the pipeline model. The basic modules of reconfigurable conduit robot are proposed to meet the need of human tube intervention. According to the characteristics of typical interventional operation environment, a unified algorithm of robot serialization and structural reconstruction is established. Then, based on the method of motion equivalence, the mapping relationship among operation space, joint space and drive space of single bending element is derived. The forward kinematics reconfigurable modeling algorithm of hyperredundant chain system is studied. The inverse kinematics reconfigurable modeling algorithms for hyperredundant chain systems with degrees of freedom are studied, respectively, for the external and internal environmental pipelines, and for the strong coupling relation of joint variables of bending elements, the inverse kinematic reconfigurable modeling algorithm for hyperredundant chain systems is studied. Based on the spiral theory, the generalized Jacobian matrix is established, the singularity of the robot is analyzed, the performance evaluation index of dexterity is established, and the autonomous motion planning algorithm is established for typical intervention tasks. In this paper, the principle of selecting the initial value for solving the global optimal solution of nonlinear equations under this structure is studied. Then, based on C language and Open GL API, the 3D simulation software SurgicalRobot. is developed on the QT5.7 platform. The software includes task planning, structure reconstruction, kinematics, 3D simulation and so on. Finally, the structural reconstruction simulation of the conduit robot under the constraint of operation task is carried out by using the three-dimensional simulation software SurgicalRobot and MATLAB, and it is verified that the duct push operation in the basic module of the reconfigurable conduit robot can enlarge the reachable workspace. The role of twist operation in expanding flexible workspace. Based on this software platform, the correctness and rapidity of robot structure reconstruction, kinematics model construction and task planning algorithm under task constraints are verified.
【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】：R616;TP242
本文编号：2272012
[Abstract]:Minimally invasive interventional surgery has become a hot research area in recent years because of its small trauma, quick recovery and good effect. In this paper, a reconfigurable conduit robot and its simulation software are studied under the background of human tube interventional operation. The system reduces the threshold of surgical technology by increasing the number of bending units and improving the control precision, and meets the different requirements of the structure of the catheter robot by the structural reconstruction of the operation environment. The autonomous motion planning algorithm is used to realize the operation and control of the catheter robot, thus freeing the doctor from the strong radiation operation site. It is of great significance to improve the quality of life of human beings by using the catheter robot system proposed in this project. In this paper, the digital description method of pipeline model is established by means of modal function method and straight line / arc method. The operation task requirements, pipeline constraints and obstacles constraints are unified in the description and modification of the pipeline model. The basic modules of reconfigurable conduit robot are proposed to meet the need of human tube intervention. According to the characteristics of typical interventional operation environment, a unified algorithm of robot serialization and structural reconstruction is established. Then, based on the method of motion equivalence, the mapping relationship among operation space, joint space and drive space of single bending element is derived. The forward kinematics reconfigurable modeling algorithm of hyperredundant chain system is studied. The inverse kinematics reconfigurable modeling algorithms for hyperredundant chain systems with degrees of freedom are studied, respectively, for the external and internal environmental pipelines, and for the strong coupling relation of joint variables of bending elements, the inverse kinematic reconfigurable modeling algorithm for hyperredundant chain systems is studied. Based on the spiral theory, the generalized Jacobian matrix is established, the singularity of the robot is analyzed, the performance evaluation index of dexterity is established, and the autonomous motion planning algorithm is established for typical intervention tasks. In this paper, the principle of selecting the initial value for solving the global optimal solution of nonlinear equations under this structure is studied. Then, based on C language and Open GL API, the 3D simulation software SurgicalRobot. is developed on the QT5.7 platform. The software includes task planning, structure reconstruction, kinematics, 3D simulation and so on. Finally, the structural reconstruction simulation of the conduit robot under the constraint of operation task is carried out by using the three-dimensional simulation software SurgicalRobot and MATLAB, and it is verified that the duct push operation in the basic module of the reconfigurable conduit robot can enlarge the reachable workspace. The role of twist operation in expanding flexible workspace. Based on this software platform, the correctness and rapidity of robot structure reconstruction, kinematics model construction and task planning algorithm under task constraints are verified.
【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】：R616;TP242
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