Design And Research Of A Force-feedback Master Manipulator For Minimally Invasive Surgery Robot

Minimal incision has always been held as the everlasting principle and arespectable goal of the surgical world, which has undergone a historic transformationfrom the traditional laparotomy to the laparoscopic surgery, also known as the secondmedical revolution. Helping patients heal without causing any incision more thannecessary has always been the goal of the medical development. This is why we haveMinimally Invasive Surgery (MIS) robots now and how they have become the frontiertechnology of the current medical surgery. During the surgery, surgeons operate MISrobots by taking control of slave devices and surgical instruments, hence the successof an MIS depends a lot on the performance of haptic devices. And this thesis isprecisely an attempt to probe into the question under discussion.Based on an analysis of the workspace of laparoscopic surgeries and the handmovements of surgeons during surgical operations, we can determine the performanceindex and the design principles for master manipulators, and then complete thestructure design. Then a kinematic analysis of the proposed structure is performed byusing a modified D-H method. The condition number and manipulability are analyzedbased on Jacobian to determine the link parameters. Kinematics simulation andworkspace analysis are also conducted, finally the structure of the master manipulatorcan be established.According to the established structure, a more specific design as to theconfiguration is put forward, including the multistage cable transmission layout ofjoints, the motor front layout. The implementation for cable tension function and thestructure design for cable transmission in the link are established. And then theassembly and testing of the master manipulator is completed.The statics model for the master manipulator is established, and the equationbetween the posture of the master manipulator and the torque to be compensated forthe connecting-rods to combat gravity is determined. Simulation of driving momentsof each joint is performed to verify the equation. Classical friction modeling isestablished, and its static friction parameters are identified during experiments, andthen a strategy for the feed-forward compensation of the gravity and friction for eachjoint is established. The kinematics of master manipulators and Master-slave operation mapping is validated by tracking the end-effector and the master-slavetracking experiment.