Research On Operation Simulation System Of The Celiac Minimally Invasive Surgical Robot

Compare with traditional surgery, minimally invasive surgery (MIS) has many advantages, such as reducing the incision size, the trauma to human body, the post-operative pain and the length of hospital stay. Further more, bring the robotic technology to MIS can improve the image quality, the accuracy of surgery and reduce the intensity of surgeon, the quality of surgery will be improved. However, MIS needs more time to learn and practice, virtual reality supplies a feasible solution to the problem. Operation simulation system of MIS robot can successful avoid the disadvantages of long time, vast waste and high price bring by the practical surgery practice, so the research on it is very valuable.This thesis supported by the National 863 high-tech project"Research on minimally invasive robot for laparoscopic surgery"analyzes the design and realization of the operation simulation system of a celiac MIS robot.Firstly, the kinematics of the robot is analyzed. This thesis analyzes the structure model of the robot and the position kinematics of the robot, calculates the forward kinematics of the robot. In order to achieve the master-slave control to the robot, Jacobean matrix and the inverse Jacobean matrix is calculated.Secondly, the operation simulation platform of the celiac MIS robot is established. This thesis introduces the structure of the operation simulation system, states the principles of the operation simulation platform, the implementation of the basic modules of the platform is stated, according to the operation simulation requirements, which provides a simulation environment for the operation simulation of the celiac MIS robot. This thesis analyzes the advantages and disadvantages of four master-slave control method and chooses the best method, then calculates the control disciplinarian for the surgical instrument.Thirdly, the models of the gallbladder and its accessory ducts are set up. In order to realize the operation simulation on the gallbladder, this thesis establishes the models of the gallbladder and its accessory ducts, according to the method of the establishment of the models, this thesis simulates the geometrical and physical characteristic of the models, the method for computing the elastic tissue force balace of the models of the gallbladder and its accessory ducts is presented. The models of the gallbladder and its accessory ducts are the objects operated in the simulation platform of the celiac MIS robot model.Finally, the research on the operation simulation of the celiac MIS robot is done. This thesis proposes the entire operation simulation scheme of the celiac MIS, the operation simulation experiments are performed, this thesis realizes the control to the surgical instrument, and the operation simulation of pressing gallbladder model and the operation simulation of clamping gallbladder model are realized.