| The minimally invasive surgical(MIS)robot has become a hot topic in the force reflecting teleoperation robotics research field,and more value and application prospect in the future medical service.The real force perception and the precise teleoperation of movement position were extremely important two aspects in the minimally invasive surgery,which directly affected whether the doctor can real perceive the interaction force between the surgical instrument and the patient's tissue,thus better and more secure operated force feedback master manipulator,implemented appropriate force control behavior.The main problems of the minimally invasive surgical robot systems were lacked of force telepresence,there had the induced master force and the induced master motion,so that the doctor can not feel real perception of accurate feedback force information and take inaccurate operation,thereby reduced the quality,accuracy and safety of minimally invasive surgery.Aimed at the above problems,to compensate of the induced master force and the induced master motion,thus eliminated the induced master force influence on doctors' perception of force feedback caused by the induced master force and eliminated the effects of the induced master motion on salve precise position,and to improve the quality and safety of minimally invasive surgery.The main work of this paper included the following aspects:Firstly,the dynamic model of force feedback master manipulator was established based on the Kane equation.It was an important premise to realize the accurate force feedback of the master manipulator and the important foundation of the operator to perceive the real feedback force information.Used the dynamic modeling method of Kane equation,complete dynamic model and force feedback master manipulator rod joint gravity,friction force and inertia force,lay the foundation for the compensation of the induced master force based on dynamic model.Secondly,a model based on force feedback master manipulator compensation strategy was studied.In minimally invasive surgery,the doctors have a good sense of force and perception of the real feedback information on the whole process of minimally invasive surgery was very important.The complete dynamic model of master manipulator force feedback based on the established master manipulator force feedback gravity compensation model,joint friction compensation model and inertia compensation model,the induced master force compensation strategy for eliminating force feedback master manipulator dynamic characteristics of interference caused by the doctor's perception of force feedback,in order to achieve the doctor's real force perception,thus,the doctor can be implemented appropriate force control behavior,improved the accuracy,the quality and safety of surgery.Finally,the influence of the feedback force on the master manipulator generated teleoperation position command was analyzed,and the compensation strategy of the induced master motion was determined.Analyzed the force feedback teleoperation system generated the induced master motion under the position-force control structure,the inaccurate and imprecise master position command was generated due to the induced master motion,which caused imprecise teleoperation of the minimally invasive surgical robotic system.The simulation results showed that the induced master motion caused by the feedback force has a great influence on the operation of the master manipulator,and it was easy to cause the inaccurate teleoperation of the doctors.In addition,established the induced master motion compensation model and the compensation strategy of induced master motion,eliminated the influence of the induced master motion accurate positioning of the surgical instruments through the induced master motion compensation strategy,achieved compensation for the induced master motion. |
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