Research On Tremor Filtration And Vibration Suppression Of Surgical Robot With Master-slave Control

Laparoscopic minimally invasive surgery robot can assist doctors to complete high-precision,minimally invasive surgery.At the same time,it has the advantages of master-slave operation,motion zooming,three-dimensional vision and hand-eye consistency.It has broad application prospects in clinical surgery.Safety and accuracy requirements of surgical robots are one of the important factors that restrict their development.The vibration of the manipulator is an important factor that affects its safety and accuracy.In this paper,based on the master-slave surgical robot,the filtering method of input tremor and the suppression method of manipulator vibration are studied.Master-slave surgical robots are operated by surgeons.Physical tremor of the surgeon's hand will inevitably lead to tremor of the end surgical instruments.In this paper,based on the principle of signal compensation,least squares support vector machine Kalman algorithm and band-limited multiple Fourier linear combiner algorithm are proposed to estimate the physiological tremor of human hand.Then it is inversely added to the control signal to filter the tremor.Compared with many filtering algorithms,the recursive least squares band-limited multiple Fourier linear combiner has the best performance,which ensures the filtering accuracy and reduces the time delay of the signal,and meets the real-time requirements of the surgical robot.Surgical manipulator will produce residual vibration because of its flexible joint,which reduces the operation accuracy and safety.Active control of the manipulator can effectively suppress its residual vibration.In this paper,the dynamic and vibration modal analysis of the slave manipulator independently developed by the laboratory is carried out.The vibration modal parameters of the manipulator at different positions are identified through experiments,and the vibration modal parameters neural network of the whole workspace is established.Based on this,a time-optimized input shaper is designed.Vibration suppression is achieved by shaping the input control signal.The input shaper ensures the effectiveness and robustness of vibration suppression while minimizing the time delay.There are two sets of manipulators,the master manipulator and the slave manipulator,in the experimental platform of the master-slave surgical robot.doctors control the slave manipulator by manipulating the master manipulator.In masterslave motion,stroke proportional control can reduce the amplitude of vibration and achieve the purpose of fine operation.In this paper,the motion mapping function in master-slave control is established,and the parameterized stroke proportional control is introduced.In this experimental platform,the filtering experiments and comparative analysis of the aforementioned hand tremor signal filtering algorithms are carried out to verify their effectiveness.The vibration parameters of the slave manipulator are identified experimentally,and then the vibration suppression experiments are carried out.The results show that the input shaper designed in this paper can effectively suppress the residual vibration of the manipulator.In addition,the experiments of master-slave motion control are carried out to verify the validity of the stroke proportional control.