Master-slave Control Study On Heart Surgery Medical Robots

The incidence of cornary heart disease in our country is gradually rising these years. However, the traditional operating method has many limitations: long hospitalization time and high operation costs. A special surgical robot which is more accuracy and more controllable for coronary artery bypass graft surgery(CABG) is needed. This surgical robot is a complicated system. It has four parts: mechanical design, heart motion recording, heart motion tracking and master-slave control. This thesis focuses on the master-slave control system of the surgical robot.Master-slave control means that an operator can control an manipulator far away from him by master hand and network. It has been used in clinical surgical robot, but not an open source. Most clinical surgical robots use isomorphism manipulator or equal degree of freedom(DOF) manipulator which lead to the master arm very complicated. In order to solve this problem, this dissertation proposed an new heterogeneous master-slave control method using 3DOF arm to control 6DOF arm.First, this dissertation builds a platform for master-slave control system. The most important part of this dissertation is motion planning. The adaptive filter simulation for tremor cancelling is conducted next. To establish links between two manipulators is to find the mapping from master hand to slave hand is fir st build. This dissertation builds the mapping from the entire workspace of master hand to part of the workspace of slave hand in Cartesian workspace. Considering the working environment difference of master manipulator and slave manipulator, this the dissertation proposes a new motion planning strategy which plans collision-free path for 6 DOF manipulator with 3DOF target. This dissertation also presents a tremor canceling system to improve accuracy of surgical robot. The simulation of WFLC and BFLC algorithm is conducted to verify that it’s necessary to cancel physiological tremor.The approach is verfied by performing experiments on 3DOF master hand and 6DOF slave hand. This disseration use ROS as the operation system to record ma ster hand motion and planning collision free path for salve hand. Finally, experimental results have shown the proposed approach performs efficiently and can be used in clinical after optimization.