本文選題：微創(chuàng)手術(shù)機(jī)器人 + 力覺臨場(chǎng)感　； 參考：《天津工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著科技進(jìn)步和社會(huì)發(fā)展需求,遙操作機(jī)器人技術(shù)逐漸成為機(jī)器人研究的熱點(diǎn),并廣泛應(yīng)用于多個(gè)領(lǐng)域。在醫(yī)療領(lǐng)域,主從遙操作機(jī)器人系統(tǒng)的力覺臨場(chǎng)感成為了眾多研究者關(guān)注的焦點(diǎn)。本文闡述了力覺臨場(chǎng)感的研究現(xiàn)狀,并針對(duì)主從式微創(chuàng)手術(shù)機(jī)器人系統(tǒng)進(jìn)行分析,指出了其中存在的兩個(gè)主要問題:主操作手存在附加反饋力和附加位移。為解決上述問題,本文所做研究工作如下。采用指數(shù)積公式對(duì)主從式微創(chuàng)手術(shù)機(jī)器人系統(tǒng)進(jìn)行了運(yùn)動(dòng)學(xué)分析,同時(shí)對(duì)主操作手Phantom Desktop進(jìn)行了逆運(yùn)動(dòng)學(xué)分析,并推導(dǎo)了主從操作手的空間和物體雅可比矩陣,為實(shí)現(xiàn)基于模型的力反饋運(yùn)動(dòng)控制做了工作鋪墊。利用旋量理論結(jié)合拉格朗日方法,并選擇Coulomb+Viscous摩擦模型,從而建立了計(jì)及關(guān)節(jié)摩擦力的主操作手PhantomDesktop的完整動(dòng)力學(xué)模型。將主操作手的完整動(dòng)力學(xué)模型進(jìn)行線性化處理后,采用最小二乘法對(duì)主操作手動(dòng)力學(xué)參數(shù)進(jìn)行了實(shí)驗(yàn)辨識(shí),最后通過力矩對(duì)比實(shí)驗(yàn)驗(yàn)證了主操作手動(dòng)力學(xué)模型的正確性和動(dòng)力學(xué)參數(shù)估計(jì)的可靠性。分析主操作手附加反饋力和附加位移的產(chǎn)生原因及補(bǔ)償原理,同時(shí)提出了相應(yīng)的附加反饋力和附加位移補(bǔ)償策略。利用現(xiàn)有的設(shè)備力反饋主手Phantom DesktOp和萬用機(jī)械手臂WAM arm搭建實(shí)驗(yàn)平臺(tái)并進(jìn)行了力反饋實(shí)驗(yàn),結(jié)果表明主操作手的附加反饋力補(bǔ)償方法正確且有效。通過建立操作者的手臂模型和模擬真實(shí)反饋力,從而對(duì)主操作手附加位移進(jìn)行了仿真實(shí)驗(yàn),結(jié)果證明了主操作手的附加位移補(bǔ)償策略的正確性。采用二端口網(wǎng)絡(luò)模型對(duì)主從遙操作機(jī)器人系統(tǒng)進(jìn)行了分析,在此基礎(chǔ)上提出并闡述了系統(tǒng)的三個(gè)性能評(píng)價(jià)指標(biāo)。分析了主從遙操作機(jī)器人系統(tǒng)通用的四通道雙邊控制結(jié)構(gòu),并介紹了其應(yīng)用于不同場(chǎng)合的兩種控制結(jié)構(gòu):基于位置誤差控制和直接力反饋控制。將力位補(bǔ)償控制單元植入直接力反饋控制結(jié)構(gòu)中,組成具有力位補(bǔ)償?shù)倪b操作雙邊控制體系結(jié)構(gòu),從而為實(shí)現(xiàn)主從式微創(chuàng)手術(shù)機(jī)器人系統(tǒng)中具有精準(zhǔn)力反饋的精確位置遙操作奠定了基礎(chǔ)。
[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.
【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

【參考文獻(xiàn)】

相關(guān)期刊論文 前2條

1 戴建生;魏國(guó)武;李建民;;國(guó)際微創(chuàng)手術(shù)機(jī)器人的現(xiàn)狀和發(fā)展趨勢(shì)[J];機(jī)器人技術(shù)與應(yīng)用;2011年04期

2 李群智;王樹新;劉丹;，

本文編號(hào)：1788819