Reseach On Master Hand With Force Feedback In Remote Operation Facing Surgery

With the constant development of tele-operate robot applications in surgery, master manipulator force feedback is playing an increasingly important role. master manipulator force feedback is a key component for the process of tele-operate, and that is the slave manipulator input devices in real-time motion control, and that is reflected the force between slave manipulator and the environment as a the haptic output device.This paper combines the national "863" project, "minimally invasive abdominal surgery robot" and is based on development research of master manipulator force feedback in domestic or abroad , doing research on master manipulator force feedback of tele-operate robot in surgery.First performance indicators under the main manipulator performance index and the master manipulator design principles, in accordance with the characteristics of surgical robotic arm movement to master manipulator force feedback designed for series-parallel hybrid structure and conducted the corresponding degree of freedom configuration, and selected series of parallel institutions and configuration of bodies, analysing kinematics and static of the 3-RUU Parallel Mechanism, giving the Expression of positive solutions of series mechanism and whole Expression of positive solutions of master manipulator .Then, under the characteristics of the main manipulator kinematics and parallel mechanism static, designed the mechanical structure of the main manipulator's components, including the base, parallel mechanism, series mechanism, clamping mechanism and so on, completed stiffness analysis of the master manipulator of force feedback . completed the actual assembly.Finally, combined with the master manipulator of force feedback mechanical design and the requirements in laparoscopic surgery, designed the main manipulator control system, set up the control system hardware, given the physical map, programmed master manipulator of force feedback control procedures based on the control card, completed a three-dimensional force feedback experiment, clamping force feedback experiment, gravity compensation experiment, and analyzed the experimental procedure and experimental results.