Research On Active Feedback Control Of Force-Feedback Scalpel

Recently,the minimally-invasive,robot-assisted surgery with teleoperation has gained an extensive study and acceptance,in which a lot of problems about the improper operation condition and inaccuracy existed in traditional minimally-invasive surgery have been solved.Furthermore,minimally-invasive surgical robot with teleoperation and force-feedback functions is currently a hotspot domestic research field.This research paper is mainly focusing on teleoperation system of minimally-invasive spine surgery and scalpel set application.Firstly,the paper introduced the overall arrangement of minimally-invasive spine surgery teleoperation system,in which the main-hand selection is constructed by Delta parallel configuration and triaxial intersection tandem configuration,and main-hand motivation is driven by the combination of high-speed & low-torque motor and high transmission ratio system.Such method highly improves the gears to eliminate a friction between the wirerope biasing manner.Next,according to the application background of force-feedback master manipulator,the paper proposed the better choices of gearbox,encoder and sensor,improved manipulator end-force signal that detected by the sensor based on system construction,and ensured the authenticity of force-feedback signal for main hand.Then,the paper analyzed the relevant theories on main hand about the positive& inverse kinematics,used virtual work principle to establish the dynamic model of main hand,and concluded the relation expression between the main-hand drive torque and power-output feedback------Which lay the foundation for the simulation and analysis of active-control technology in the future.Finally,the paper investigated the strategy of impedance control in active force and position control,which according to the impedance algorithm that obtained the factors that affect the steady-state error.For impedance control,it is necessary to accurately control the environmental parameters;and also on a basis of the contact force error state equation,an adaptive impedance controller is eventually designed.Therefore,the theory that active feedback control system can accurately track the ideal impedance force and robustness is verified.