Remote Control Of Laparoscopic Minimally Invasive Surgical Robot And Experiments

Closely connection with the requirements of the robot assisted telesurgery, combining the developed “MicroHand S” surgery robot system, the dissertation conducted research on the design and implementation of remote minimally invasive surgery robot system based on the communication mode of internet.The following works have been accomplished in the dissertation.Firstly, according to the working characteristics of master-slave robot system and the actual demand of remote minimally invasive surgery operation, the structure performance and analytical method of robot and the control strategy of industrial tele-operated robot were studied adequately, and the advantages and disadvantages of common communication modes were analyzed and compared, thus the tandem configurations of master and slave manipulator and a system principle scheme that the master manipulator manipulates the slave manipulator via the internet under the direct control strategy were confirmed.Secondly, based on the system principle scheme and the telesurgery requirements, conformation analysis and selection were conducted, the forward and the inverse kinematics solution and work space analysis were carried out by D-H method, and the master-slave mapping mathematical model of minimally invasive surgery robot system. Then the system architecture was designed and master-slave communication mechanism and image feedback system were analyzed emphatically.Based on the research of remote control method, a remote control system upon the client/server mode and the control thoughts of upper and lower computers was designed, and system control software and graphical user interface were developed using object-oriented technique on the basis of C++ language, realizing the safe network transmission of master-slave control signal. Upon the development completeness of the structural layout and control system of the remote minimally invasive surgery robot, system integration and synthesis were conducted and completed.Fourthly, on the basis of the developed remote minimally invasive surgery robot system, a remote demonstration environment between Beijing and Tianjin was set up, and by communication time delay test and image feedback delay test, the constitution of system delay was analyzed, and by remote lantern-ring experiment, the correctness of master-slave mapping mathematical model and the reliability of remote system were verified.