The Research On Accurate Positioning Control Technology Of Multidimensional Minimally Invasive Surgery Manipulator

Because of the continuous progress of science and technology,society has put forward more and more demands on various fields including medical field.In order to improve the success rate of minimally invasive surgery in spine surgery and improve the positioning accuracy of minimally invasive surgical manipulator,this paper mainly studies its control strategy and spatial mapping algorithm.Firstly,the problem of inverse kinematics of the spinal minimally invasive surgery manipulator is analyzed.This paper studies the master-slave control Strategy of operative Manipulator,the control strategy is based on the combination of master-slave control and spatial variable proportional control,and the real-time position difference between the master and slave is introduced into the feedback link to achieve better master-slave-follower effect and improve the control precision of the system.Secondly,the theoretical knowledge of spatial mapping method and basic principle is analyzed,and the spatial mapping algorithm based on matrix singular value decomposition(SVD)and the space mapping algorithm based on unscented Kalman filter(UKF)are studied.Based on the above research,the correctness of the positive inverse solution is verified by MATLAB simulation experiment,the SVD spatial mapping algorithm and the UKF Space mapping algorithm are analyzed,and the SVD algorithm can not meet the requirements of the system,so the UKF space mapping algorithm is adopted to improve the positioning accuracy of the system.