Research On Motion Analysis And Control Method Of Minimally Invasive Surgery Mechanism Oriented To Autonomous Operation

With the continuous improvement of robotic intelligence,the use of surgical robots to perform complex and time-consuming surgical operations,such as suture and knotting,can not only expand the skills of doctors,but also replace the work of some doctors.It is of great significance to shorten the operation time,reduce operational errors and improve the quality of surgery.In order to solve the common problems of robot-assisted minimally invasive surgery,such as poor operation intuition,lack of force feedback function,and easy misoperation of doctors due to fatigue,improve the intelligent operation level of minimally invasive surgery robots,and ultimately achieve the goal of autonomous operation of minimally invasive surgery.This paper designs a new type of minimally invasive surgery mechanism for autonomous operation.Kinematics analysis and trajectory detection of the mechanism are carried out.A control method for obtaining autonomous operation strategy of minimally invasive surgery mechanism by using BP neural network training is proposed.The rationality of the design of minimally invasive surgery mechanism and the feasibility of the control method are verified based on the experimental platform.Firstly,the research status of minimally invasive surgery robot technology,minimally invasive surgery mechanism and autonomous operation minimally invasive surgery control method at home and abroad are summarized,and the shortcomings of existing minimally invasive surgery robot system are analyzed.Based on the analysis of the working principle of minimally invasive surgery robot system oriented to autonomous operation,according to the design principles and technical requirements of minimally invasive surgery mechanism,a minimally invasive surgery robot A symmetrical wire drive minimally invasive surgical mechanism for autonomous operation is designed.The configuration and transmission scheme of the minimally invasive surgical mechanism are analyzed,and its structure and transmission scheme are designed in detail.Secondly,the forward and inverse kinematics analysis of the minimally invasive surgery mechanism is carried out,and the simulation model of the minimally invasive surgery mechanism is constructed by using the robotic toolbox in MATLAB,which verifies the correctness of the forward and inverse kinematics analysis.The model between the detection angle of the driving wheel and the joint angle of the minimally invasive surgery mechanism is constructed to realize the purpose of trajectory detection of the minimally invasive surgeryThen,an autonomous operation control method based on neural network is proposed.BP neural network is used to train the driving wheel of minimally invasive surgery mechanism to detect joint angle and end trajectory by self-learning,and the autonomous operation control strategy of minimally invasive surgery mechanism is obtained.The simulation system is constructed to verify the correctness of the autonomous operation control strategy.Finally,a prototype model of the minimally invasive surgery mechanism was developed,and an experimental platform for the autonomous operation of the minimally invasive surgery mechanism was built.The rationality and good motion performance of the design of the minimally invasive surgery mechanism were verified by joint flexibility experiment and motion experiment.The feasibility of the control method was verified by the autonomous operation control experiment.