Research On Semi-Physical Robot Surgery Simulation System With Force Feedback

In traditional training system of minimally invasive surgical robot,corpses or animals are generally used as objects for operation,which is very costly.In addition,the existing minimally invasive surgical training system also has problems such as lack of force feedback information,limited operation precision,lack of authenticity and immersion,etc.Therefore,this paper will set up a semi-physical robot surgery simulation system with forced feedback to solve the problems mentioned above.Firstly,the key technologies in semi-physical environment with force feedback are studied.The virtual operation object(virtual soft tissue)is mixed into the real world by AR technology.In order to realize the interaction between virtual soft tissue and real robot,the virtuality-reality interaction strategy and collision detection algorithm are also studied in this paper.In this paper,a mechanical model of soft tissue is established to describe the relationship between the deformation and the feedback force.Secondly,the force feedback control system on the master end is studied in the third chapter.Firstly,the master hand used in this paper is introduced,and its kinematics and dynamics are analyzed.Then,the model of the force feedback control system is established,and the requirements of the force controller are clarified.A variable universe fuzzy PID controller is designed,which improves the on-line adaptive ability of PID parameters,thereby improving the tracking accuracy of feedback force and the dynamic performance of the syste m.Simulation experiments are carried out under different input signals.Then in order to improve the operating accuracy of the system,the position control system of the slave robot is studied.The kinematics and dynamics of the slave robot are analyzed,and the traditional position tracking sliding model controller is designed.Although the controller has high control precision,it will cause obvious tremor phenomenon in the control process.In order to solve this problem,a self-adaptive fuzzy sliding model controller is designed based on fuzzy control theory.It ensures the control accuracy while solving the tremor problem.Then the simulation experiment was also carried out.Finally,the experimental verification of related research contents is carried out.Firstly,the experiment platform is built.Then the collision detection experiment is carried out to verify the efficiency of the proposed collision detection algorithm.And the soft tissue deformation-feedback force experiment is carried out to verify the rationality of the mechanical model.Then,the static and dynamic experiments are carried out for the master hand,which verifies the control effect of the variable universe fuzzy PID controller proposed in this paper.The position tracking experiment for the slave robot is carried out,and the performance of the self-adaptive fuzzy sliding model controller designed in this paper is verified.Finally,the performance test experiment of the whole system is carried out.