Simulation Platform Establishment Of The Celiac Minimally Invasive Surgical Robot And Operation Simulation Research

Compared to traditional celiac minimally invasive surgery, using the celiac minimally invasive surgery to perform celiac surgery has many advantages such as small incisions, fast healing, short hospital stay and high operation quality. Operation simulation technique of celiac minimally invasive surgery is one of the key techniques of celiac minimally invasive surgical robot system, and the research on it is very valuable on simulating real process of celiac minimally invasive surgery operation and shortening training curve of doctor.Combining the Chinese National Programs for High Technology Research and Development project"research on minimally invasive robot for laparoscopic surgery", the model of celiac minimally invasive surgical robot is established, the kinematics of the robot model is analyzed, the models in abdomen oriented to celiac minimally invasive surgery are set up, the simulation platform of the model of celiac minimally invasive surgical robot is established, and the research on operation simulations of pressing and clamping the model of the gallbladder and its accessory ducts and that of tissue in celiac lower part is performed.Firstly, the model of celiac minimally invasive surgical robot is established. The modeling request of celiac minimally invasive surgical robot is analyzed, and the entire scheme of robot model is made. Aiming at the positioning demand of operation remoter center, the remote center positioning mechanism model of robot is designed. Based on the analysis of advantages and distanges of various remote center mechanisms, the parallelogram mechanism model is designed. Combining the real operation request, the instrument model used in celiac minimally invasive surgery is designed. To satisfying the real demand of celiac minimally invasive surgery, the arm length parameters of the robot model are optimized. the model of celiac minimally invasive surgical robot is the execution mechanism in the simulation platform of the model of celiac minimally invasive surgical robot.Secondly, the kinematics of the robot is analyzed. The forward kinematics and the inverse kinematics of the remote center positioning mechanism is analyzed to position the remote center. The forward kinematics of the instrument is analyzed, the method to confirm the workspace of the instruments in preoperative planning is stated. The Jacobian matrix and inverse Jacobian matrix of the instrument are computed, and that sets up the base for the inverse Jacobian control to the robot. The kinematics analysis of the robot is the essential condition to control the robot to move according to the desired law.Thirdly, the models in abdomen oriented to celiac minimally invasive surgery are set up. Due to the gallbladder resection is the typical celiac minimally invasive surgery, the model of gallbladder and its accessory ducts and that of tissue in celiac lower part are set up. And the respective mechanical models are endowed and analyzed, the algorithm for computing the elastic tissue force balace of gallbladder and tis accessory ducts, the algorithm for simulating the dynamic process of tissue in celiac lower part when it is viscoelasitic tissue. The models in abdomen oriented to celiac minimally invasive surgery are the objects operated in the simulation platform of the model of celiac minimally invasive surgical robot.Fourthly, the establishment of the simulation platform of the model of celiac minimally invasive surgical robot is stated. The entire structure of the platform is introduced, the principle diagram of the platform is given, and the master used in illuminated. The control method of the robot model is determined by analyzing the advantages and disadvantages of four master-slave control methods, and the conrol law is computed. The implementation of the basic modul of the platform is stated, the steps to establish the platform is elaborated and the issues to be payed attention to are stated. The platform provides the simulation environment for using the celiac minimally invasive surgical robot to perform the operation simulation.Finally, the research on celiac minimally invasive operation simulation is performed. The entire operation simulation scheme of celiac minimally invasive surgery is proposed, the operation simulation of pressing gallbladder model using instrument, the operation simulation of clamping gallbladder model using instrument, the operation simulation of pressing the model of tissue in celiac lower part using instrument, the operation simulation of clamping the model of tissue in celiac lower part using instrument are performed.