【摘要】：微創(chuàng)外科手術(shù)機(jī)器人已成為力反饋遙操作機(jī)器人研究中的一個(gè)熱門(mén)研究領(lǐng)域,并且在未來(lái)的醫(yī)療服務(wù)中更具價(jià)值性和應(yīng)用前景。真實(shí)的力覺(jué)感知與對(duì)運(yùn)動(dòng)位置的精確遙操作是微創(chuàng)外科手術(shù)極為重要的兩個(gè)方面,其直接影響到醫(yī)生能否真實(shí)感知手術(shù)器械與患者組織之間的相互作用力,從而更好地更安全地操作力反饋主手,實(shí)施恰當(dāng)?shù)牧刂菩袨椤Ｄ壳拔?chuàng)外科手術(shù)機(jī)器人系統(tǒng)存在的主要問(wèn)題是缺乏力覺(jué)臨場(chǎng)感,存在著主手附加力和主手附加位移,使醫(yī)生不能真實(shí)的感知反饋力信息以及對(duì)運(yùn)動(dòng)位置的精確遙操作,從而降低了微創(chuàng)外科手術(shù)的質(zhì)量、精度與安全。本文針對(duì)上述問(wèn)題,對(duì)力反饋主手附加力以及附加位移進(jìn)行補(bǔ)償,從而消除主手附加力對(duì)醫(yī)生感知反饋力造成的影響以及消除主手附加位移對(duì)從手精確定位的影響,進(jìn)而提高微創(chuàng)手術(shù)的質(zhì)量和安全。本文的主要研究工作如下:首先,基于Kane方程推導(dǎo)了力反饋主手的動(dòng)力學(xué)模型。建立準(zhǔn)確的完整力反饋主手動(dòng)力學(xué)模型是實(shí)現(xiàn)主手精確力反饋的重要前提,也是操作者感知真實(shí)反饋力信息的重要基礎(chǔ)。利用Kane方程動(dòng)力學(xué)建模方法,建立計(jì)及力反饋主手的連桿重力、關(guān)節(jié)摩擦力以及慣性力的完整動(dòng)力學(xué)模型,為基于動(dòng)力學(xué)模型的主手附加力補(bǔ)償?shù)於ɑA(chǔ)。然后,進(jìn)行了基于模型的力反饋主手附加力補(bǔ)償策略的研究。在微創(chuàng)外科手術(shù)中,使醫(yī)生獲得良好的力覺(jué)臨場(chǎng)感,感知真實(shí)的反饋力信息對(duì)整個(gè)微創(chuàng)手術(shù)過(guò)程中是極為重要的。基于力反饋主手的完整動(dòng)力學(xué)模型,建立了力反饋主手的重力補(bǔ)償模型、關(guān)節(jié)摩擦力補(bǔ)償模型以及慣性力補(bǔ)償模型,通過(guò)主手附加力補(bǔ)償策略,消除因力反饋主手動(dòng)力學(xué)特性對(duì)醫(yī)生感知反饋力造成的干擾,以實(shí)現(xiàn)醫(yī)生的真實(shí)力覺(jué)感知,從而實(shí)施恰當(dāng)?shù)牧刂菩袨?提高手術(shù)的精度、質(zhì)量與安全。最后,對(duì)反饋力對(duì)主手生成遙操作位置指令的影響進(jìn)行了分析,并確定了主手附加位移補(bǔ)償策略。分析了微創(chuàng)外科手術(shù)機(jī)器人系統(tǒng)在位置-力控制結(jié)構(gòu)下產(chǎn)生的主手附加位移,產(chǎn)生的主手附加位移使得主手生成了不精確的位置指令,最終將引起微創(chuàng)外科手術(shù)機(jī)器人系統(tǒng)運(yùn)動(dòng)位置的不精確遙操作。仿真結(jié)果表明:因反饋力引起的主手附加位移對(duì)主手生成遙操作位置指令的產(chǎn)生較大了影響,易造成醫(yī)生對(duì)手術(shù)器械的不精確遙操作。此外,建立了主手附加位移補(bǔ)償模型并確定了主手附加位移的補(bǔ)償策略,通過(guò)主手附加位移補(bǔ)償策略消除主手附加位移對(duì)手術(shù)器械精確定位的影響,實(shí)現(xiàn)對(duì)主手附加位移的補(bǔ)償。
[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.
【學(xué)位授予單位】：天津工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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