Performance Evaluation And Experimental Research On Laparoscopic Minimally Invasive Surgical Robot For Clinical Safety Improvement

Minimally invasive surgical robot could overcome the shortcomings of traditional surgery and effectively expand the surgical operation ability of doctors.In this dissertation,the key issues of working performance evaluation and experiment application on minimally invasive surgical robot were researched for further clinical safety improvement.The main achievements are as follows:In order to meet the requirements of safe operation in robot-assisted minimally invasive surgery,a comprehensive evaluation system of robot performance was proposed with the engineering indexes of workspace,collision interference,flexibility,joint motion optimization and hand-eye coordination,and a preoperative planning model was established on the basis of multi-objective optimization.The multi-objective particle swarm optimization algorithm is used to solve the problem,and then the operational safety of the robot is improved.The experimental results show that the preoperative planning proposed here is more reasonable than that only based on clinical experience,and thus obtiain better effect on the selection of surgical incision and robotic arm position in robot-assisted minimally invasive surgery.Considering the characteristics of master-slave operation mode,the control strategy exploration was carried out with the developed "Micro Hand S" robotic system.The system abilities of the motion consistency,the master-slave secondary mapping and the motion-scaling in the master-slave control process were all enhanced.A robot assisted minimally invasive surgical operation performance evaluation method was proposed.This method constructs the evaluation model by outputting the motion from the end of the robot system actuator and extracting the motion characteristic index.The experimental results show that the evaluation model can effectively identify the significant differences in the operation skills among operators with different experience levels,and it playssignificance for the training of robot-assisted minimally invasive surgery technology and the evaluation of operation skills.To address the motion constraint of minimally invasive surgical robot,a motion constraint method of robot actuator based on virtual fixture was proposed.The method can restrain the movement of the end posture during the surgical instrument replacement and the whole process of the instrument entering and leaving the body cavity.The spatial motion constraint of the robot actuator during master-slave operation was studied to slove the problems of collision interference between the robotic arm or surgical tools and the end of the surgical instrument leaving the visible area.The effectiveness of the method was verified by experiments.This method can actively prevent the secondary injury caused by the motion planning error of robot system or manual operation error in robot-assisted minimally invasive surgery.On the basis of the above research,this dissertation conducts an optimization design and experimental methodology on the motion performance of the robot system of "Micro Hand S”,and validates the performanceof RCM positioning safety mechanism response,operational traction,master-slave control,etc.Finally,the robot system is proved to have strong operation ability through animal experiments,which lays a foundation for further clinical application.