Research On Key Technology Of Force Sensing And Force Feedback From Minimally Invasive Surgical Operation Robot

It is the minimally invasive operation robot that plays an epoch-making significancein the medical field of machinery. With the advantages of high precision, high efficiency,high intelligence and the faster postoperative recovery, less trauma, less susceptibility, itdoes become the new targets of the development and the research in the future.Based on the minor trauma, the minimally invasive operation robot, in which therobot assist is used to complete the operation, is different from traditional abdominaloperation. But a tremor and fatigue problems for the doctor can be spurred in the long timeoperation. Therefore, this paper is devoted to solve the shortage of the force sensing andforce feedback from the minimally invasive operation robot, presenting configurationdesign of the slave manipulator with the function of force sensing. The main researchcontents of this paper are as follows:The basic structure of the holding hand from the minimally invasive operation robot isanalyzed. According to the working environment of the holding hand and the increase ofthe constraint restrict to the force sensing device, the minimally invasive operation robotslave manipulator with the function of force sensing is designed, analyzing the rationalityof the sensing device and the selection of the driving device.Transient dynamics simulation Analysis on the compliant mechanism of the forcesensing device is conducted by ANSYS, including the transient process of stress of thecompliant mechanism in the sensing device and the problem on the setting of load stepfrom the transient analysis. Finally, the transient dynamics analysis through the loading isimplemented, indicating that the deformation value is consistent with the theoretical valuewhen the compliant mechanism under the maximum clamping force, and smaller than thedeformation space of compliant mechanism. The feasibility and the rationality of thedesign is proved. The simulation results shows that the deformation and stress sensing device is basically linear relation, laying the foundation for the further study of forcesensing signal processing of minimally invasive operation robot.With the analysis of the compliance control theory and the master-slave manipulatorsystem of the minimally invasive operation robot, the feedback control strategy of theminimally invasive operation robot is planned. According to the force feedback controlstrategy, the force sensing platform to simulate the minimally invasive operation isconstructed. Therefore, the hardware and software is achieved based on the demand of theexperimental platform.