Remote Force Feedback Master Hand Design And Master-slave Operation Technology Research

Master-slave minimally invasive surgery robot which is playing more and moreimportant rolein the surgical field is a leading edgein domestic and internationaldevelopmentof medical technology andequipment. The design and research on masterforce feedback manipulator is the key problem of this technology. In order to combinethe current urgent needs, In this paper, the author carried out a study on theoryresearch, design of mechanical structure and experimental analysis of master forcefeedback manipulator which used in minimally invasive spine operationmaster-slaverobotic system. The techniques of master-slave operation has also beendiscussed.Firstly, Based on research on practical application of pediculate screw internalfixation operation and analysis of the mechanismconfiguration, the5-FOD hybridmechanism with Delta parallel mechanism as main body were reckoned as theoptimalconfiguration of master manipulator. The positive and inverse kinematicsolution has been improved and the work space has been figured out. In order to getthe work space which satisfies operation requirements, the kinematic dimensions wererepeatedly amended. Adopting judge whether the Jacobian matrix determinant is zero,the singularity of Delta mechanism was analyzed. To provide a theoretical basis formotor selection of the parallel mechanism, the static analysis of mechanism werefigured out with the principle of virtual work.Secondly, after determining the expected performance and index of mastermanipulator aiming at the application background, some key problems such asoverall stiffness, pose accuracy, feedback force size and resolution, stability, safety,easy to force feedback control and Realization were taken comprehensiveconsideration.The Parallel mechanism and serial mechanism were designed andthekey components were selected. The cause of parallel mechanism error and thecalibration technology theory were analyzed.In addition, the analysis of the operation process of pedicle screw fixationby theway of master-slave manipulation is completed, the overall control and operationscheme were taken a preliminary study. The safe and reliable response program were formulated aiming at risk and thepotential dangers in the process of operation.Finally, the prototype of force feedback manipulator was trial-produced.In orderto make the master manipulator reach the predetermined performance and index, thekinematic calibration experiment andsimulative force feedback experimentwas carriedoutand the experimental results were analyzed and studied.