Study On Self-service Minimally Invasive Operation Robot Based On Human-computer Interaction

Celiac minimally invasive surgery is one kind of the microsurgical operation, it means that surgeon open four holes on patient’s body, two of which are used to insert a slender surgical instruments, one is used to insert the endoscope,and the last one is used for auxiliary operation. Compared with the traditional surgery, minimally invasive surgery greatly reduces the labor intensity of the doctors, improves the quality of the work. In addition it makes patients with smaller trauma, less pain and short recovery period. Now the application of minimally invasive surgery robot technology is very successful.In recent years, experts and scholars both at home and abroad actively carried out research of the surgical robot, but in the robot assisted minimally invasive surgery, the surgical instruments through the small wound patients, during all kinds of surgery operation, the wound always limit the surgical instruments, the constraint called fixed point constraints. With the limitation of surgical instruments fixed point, the "leverage effect" is brought, so that surgical instruments can only move along four direction, have only four degrees of freedom. The position and posture of operating point are restrained,so it is difficult to operate rapidly and flexibly. To solve the above problems, The research and development of surgical instruments extra flexibility is the most direct and effective method. Mechanism should have at least six degrees of freedom. In this way mechanisms have enough flexibility to achieve any position in the operating space,and surgery can achieve the movement effect of open surgery, in turn,improve the efficiency of the minimally invasive surgery.This paper introduces three stages of abdominal surgery’s development, analysis the design requirements of celiac minimally invasive surgery robot’s operation mechanism and sums up the action that operation mechanism must do to complete the surgery. On this basis, operation mechanism was designed in general.The operation mechanism adopts three linkage in order to satisfy the kinematics restrictions of the insertion point. It overcomes the limitation of the insertion point’s "leverage effect", solves the "leverage effect" caused by fixed point in laparoscopic surgery effectively and increases degrees freedom of surgical instruments. Then the detailed design was carried on for every part of mechanism(mechanism handle, intermediate connecting rod, actuators, drive boxes, etc.). By comparing, D-H matrix method is selected for the robot mechanism’s inverse kinematics analysis, and working space are analyzed and verified through the simulation operation.Stitching and knotting is an essential step of surgery. The application of surgical robot being more and more widely, stitching and knotting is an essential function of surgical robot. stitching and knotting of minimally invasive surgical is an important part of surgery, also the most difficult surgery action. Because of the limitation of the workspace, in Microsurgery and minimally invasive surgery, stitching and knotting by robot is very challenging. Aiming at the problems existing in the traditional surgery’s stitching and knotting, puts forward a new methods called reverse method to improve the quality and efficiency of surgical stitching and knotting robot system. On the basis of analyzing for action in stitching and knotting, abstracting six basic operation action,and capture video of stitching and knotting’s action by using the principle of binocular stereovision, In the end, extractiing and fitting the trajectories during stitching and knotting.