Research And Development Of Master-Slave Control And Experiment System For The Laryngeal Surgical Robot

A master-slave control surgical robot system was developed for minimally invasive laryngeal surgery in this dissertation. The system is able to perform basic surgical operations, such as grasping, separating, cutting and suction in the long and narrow space of throat.Firstly, analysis was done based on the requirements and the general operations for laryngeal surgery. And detail design and analysis of the slave manipulator was discussed, mainly including the design of the slave manipulator's arms, wrists and tools. With Denavit-Hartenberg method, the mathematic models were established for master manipulator and slave manipulator separately. Then the master-slave model inside the laryngoscope, the entering and quitting model for the tools, the work spaces for the master and the slave were analyzed.Secondly, a master-slave control system for laryngeal surgical robot was developed based on the general control algorithm proposed by us, including the overall architecture of the hardware and the selection for each motor and motion control card, the motion programming to every surgery operation and the virtual emulating system for human-machine interface.Thirdly, location system was designed to solve the positioning problem between the robot and the patient before the operation. Fast-moving positioning using the vision guidance is the essential idea. It mainly includes the designs of vision guidance system and surgery bed adjusting system.Finally, tests were designed and executed to confirm the relevant performances of the master-slave control system. The experiment, cutting knub tissue from vocal cords of the pig, was well done without any injury, conforming to our expectation of effectiveness. The results showed that it is possible to apply the master-slave system to perform current minimally invasive surgery for throat through the laryngoscope with great safety, dexterity, stability and reliability.