End-effector Of Minimally Invasive Surgical Robot Design And Its Control Strategy Research

The minimally invasive surgical (MIS) robot breaks through traditional diagnosisand treatment, which has brought many benefits to physicians and patients. And it hasbecome an academic hotspot. The surgical instrument of MIS robot contacts with thepatient, which affects the quality of operation directly. Therefore, the surgicalinstrument is an important part in the robot system. A multi-degree of freedominstrument for robot assisted minimally invasive surgery is developed in this paper.The main content of this paper is as follows:Firstly, the surgical procedure of celiac minimally invasive surgery is analyzed,in order to obtain the design requirements of surgical instrument. According to thedesign requirements, two schemes are proposed and their mechanical drive systemsare determined reasonably. Then, the kinematics of the two schemes is analyzed byD-H method and the spiral theory, and their mechanism singularity is discussed byJacobi matrix. The appropriate scheme is selected by comparing with their mechanismsingularity and workspace.Secondly, the configuration design of surgical instruments is described,including the layout of transmission system, wire tension mechanism, power interface,and the realization of each degree of freedom of the instrument. And se veral sets ofprototypes are developed. Moreover, the trajectory tracking control of surgicalinstruments is researched. Based on dynamic model of the surgical instrument,adaptive trajectory tracking controller is designed. The tracking performance of thecontroller is simulated by Matlab/Simulink.Finally, a set of experiments of the surgical instruments’ prototypes are carriedout. And experimental results verify the performance of multi-degree of freedomsurgical instruments.