Research On The Precision Of Universal Surgical Master Hand With Force Sense

This paper mainly researches the precision of universal surgical master hand with force sense according to the need of master-slave medical robot's movement match situation, to provide design reference for the precision design of high performance master-slave surgical robot.Firstly, the kinematics models of the PHANToM master manipulator, Da Vinci surgical robot system BH600 neurosurgery robot and the"Microhand"laryngeal surgical robot are established by the D-H method. Then various error modeling methods of robot are compared, the error models of the master-slave manipulators are established separately using the perturbation way of the vector method.Secondly, the character of various robots'error and the errors'probability model are study. The factors that influence the errors of the end-effector of the master-slave robot are analyzed. Based on this the quantitative analysis contrast to the medical robot each joints error to the terminal end-effector error's influence was made, and the error condition in the structural parameters error and motion parameters error are compared. The conclusion can instruct the precision design of Surgical Robot master manipulator.Finally, the thesis uses the Matlab to simulate the distribution states of the orientation errors of the master and slave manipulators in their workspace through the Monte Carlo Method, including the calculation and statistic of the end-effectors'orientation errors, and the distribution diagram of their orientation. Compare the orientation error distribution of different isomeric master-slave manipulators under conditions of different manufacturing accuracy instance and component device precision. Then further discussion about the effective ways to decrease the errors of the end-effector in the process of the master-slave operation is taken.