Research And Development Of Surgical Robot End-effector Control System

The rapid development of minimally invasive surgery has driven minimally invasive surgical robots to become a new hot area in recent years.At the same time,minimally invasive surgical robots have developed into a comprehensive discipline,which combines many disciplines and forms a development that meets their own development the way.Compared with traditional minimally invasive surgery,minimally invasive surgical robots have the advantages of small wounds,high speed,high precision,and short patient recovery time.They bring new surgical methods to the majority of patients and adapt to the current rapid development of social science and technology.The minimally invasive surgery robot works in the same way as the traditional minimally invasive surgery.The operation robot is a master-slave structure.The doctor operates the main hand and controls the insertion of the hand into the patient’s body and repeats the main hand’s movement to complete the operation.In the current research of surgical robot control systems,the study of slave control systems with force perception and feedback is still in a weak state.Based on the structure design of hand robot(end effector)of surgical robot,this paper designs a kind of surgical robot slave hand control system,which is based on manual work force perception and makes the following research.Firstly,the mechanical structure of surgical robot hand is analyzed.Based on this,the kinematics and dynamics of the surgical robot hand are analyzed,and the dynamic model of the hand is established,which establish slave hand model foundation of surgical robot based on the subsequent model control algorithm design.Secondly,based on the dynamics model of surgical robot hand,a RBF(Radial basis function,RBF)neural network robot based on model block approximation slave hand control algorithm is designed,and its stability analysis and simulation is carried out.Experimental results show that the control algorithm has the characteristics of high precision,good stability and strong robustness.Thirdly,using the mixed programming method of Labview and MATLAB,the work force perception system and the slave control system of the slave hand are designed and the corresponding hardware system is established.Among them,the software system includesprocedures such as collection and calculation of hand work force,feedback of slave hand force feedback control,and overall movement control program of slave hand.Finally,the surgical robot is integrated from the hardware of the hand control system,slave hand control system experiment platform are established,and the angular velocity,angular displacement,torque and other data of the drive motor under the two control methods of the traditional PID and RBF neural network slave hand control system are compared.The experimental results show that the surgical robot’s hand control system has the characteristics of fast response,high precision,good stability,and strong robustness,which improves the control precision and performance of surgical robot slave hand.