Master-slave Control Technology Research For Abdominal Minimally Invasive Surgery Robot

The use of robot into minimally invasive surgery has virtue of enhancing quality of the surgery, reducing the surgeon's intensity of labor. Therefore, surgical robot technology and its equipments have gradually become the hotspot in the research field of medical robotics and have attracted the interest of robotic researchers.Base on kinematics analysis of the surgical robot, this paper focuses on the theoretical study of master-slave follow strategy and master-slave motion control algorithm for the surgery robot. And software and hardware platform of control system are built. At last, through the establishment of physical simulation environment and related experiments, the proposed hardware and software scheme is verified.Firstly, the kinematics of the surgical robot is studied. The robot's coordinate system is established by using D-H method. Then, in order to solve the exist of a redundant degree of freedom which makes kinematics problem becomes complicated, the method of dividing the coordinate system into blocks to do kinematics analysis is raised.Secondly, master-slave control of surgical robot is studied, it includes:Hardware, the hardware structure using PCI bus way communicating is constructed which provides excellent hardware platform for the master-slave control.Master-slave follow method, in order to solve the problems of traditional inverse kinematics transformation method. Real-time master-slave control algorithm based on the equivalent differential transform method is carried out.Master-slave motion control, 1) In order to solve the current problem on trajectory planning needing predicting movements and off-line calculate, fast real-time trajectory planning method is carried out. 2) Based on error analysis of the surgical robot, effective error compensation strategy is proposed. 3) Design tremble filter to eliminate the affect of hand tremble on the operation. 4) Collision detection algorithm based on the spherical bounding box theory is raised to solve the collision between multiple arms. 5) Due to workspace analysis, the appropriate master-slave scale coefficient is determined. 6) Effective initial calibration is designed which can improve system accuracy. 7) To ensure the safety of operation, an effective security method for the movement is designed.Software, based on object-oriented theory, an easy maintenance, high efficiency, high quality, easy to expand software structure is constructed, and a friendly interface, error correction software interface is designed.At last, Simulation and experiments are raised. Due to the establishment of a master-slave operation simulation environment, and based on the control methods in this paper, the master-slave experiments are done by using the master and slave manipulators.