Research On Control Technology Of Robot Assisted Insertion With A Master-slave System

In the field of modern medical robot applications,robotic assisted puncture has become a hot research.However,some surgical environment has radiation,it is easy to harm the doctor.In addition,in the traditional puncture surgery,the doctor must be careful to grasp the puncture device to do precise action and it will increase fatigue.Compared to conventional puncture surgery,the master-slave robot assisted puncture system can avoid the doctor face the radiation and can bring a strong sense of presence.In addition,it is able to combine precision machinery with doctor's physician experience to improve the surgical operation.On this basis,the master-slave robot puncture system research is more important.The paper mainly completed the following work:First of all is to build the master-slave robot puncture system hardware platform.The main purpose of the master-slave robot in the medical application is to avoid the doctor to face radiation.The robot can be operated outside of the operating room and the robot moved by the doctor's operation.According to the accuracy and operability of the exeriment,the master and slave manipulator is selected.Second is to research the control algorithm of piston system of master-slave.Because the organs are generally non-uniform viscoelastic soft tissue and it will shift under the action of force and the puncture process will go through different levels of organization.Here we choose the sliding mode variable structure control and impedance control.The system simulation was carried out according to the stratification of the puncture liver.We adjust the parameters to reduce the displacement of master and slave manipulator and force tracking error,to maintain the master and slave manipulator movement consistency.Finally,we develop the master-slave robot puncture system software by C++according to platform hardware.We select the appropriate control algorithm and the control algorithm was integrated in the puncture system software.Identify the impedance control model parameters using the experimental data of the puncture and to achieve the needle position,needle and soft tissue interaction between the control by adjusting the puncture speed.The work of this paper will provide a theoretical and technical basis for the development of medical robots,especially for the research and development of medical robot.