Research On The Additional Feedback Force/position Compensation Strategy Of The Master-slave Minimally Invasive Surgical Robot System

As a new service robot,minimally invasive surgical robotic system has quickly become a research hotspot for researchers.Compared with traditional surgery,minimally invasive surgery has the advantages of smaller wounds,less bleeding,faster postoperative recovery,and fewer scars.However,the minimally invasive surgical robotic system has not been widely used,and it still has certain defects.Aiming at the minimally invasive surgical robotic system,this paper analyzed the development status of minimally invasive surgical robotic system by reading the literature,and putted forward the problems of induced feedback force and induced displacement.In response to the above two issues,the following researches were carried out in this article:The Lagrangian theorem was combined with the spin theory to analyze the structure of the master-manipulator and establish the dynamic model of the master-manipulator.Based on the coulomb-viscous friction model,the causes of the friction force of the master manipulator joint was analyzed and established,which contained a joint friction model of joint coupling friction.The dynamic model of the master manipulator and the friction model of the joint were combined to obtain an optimized complete dynamic model of the master-manipulator,which was simplifiedThe offline identification method was used to establish an experimental platform to identify and verify the dynamic parameters of the master-manipulator Phantom Desktop.Compared with the master-manipulator’s dynamic parameters without optimization,the results showed that the optimized master manipulator dynamic model can better describe the master-manipulator’s dynamic characteristics.Based on the complete dynamic model of the optimized master manipulator,the causes and compensation principles of induced feedback force and induced displacement were analyzed,and corresponding compensation strategies were proposed.A spring mass damping model of the operator’s arm was established,and an induced displacement simulation scheme was designed to verify the correctness of the additional displacement compensation principle.In order to verify the correctness of the induced feedback force/position compensation strategy,the existing equipment in the laboratory(the master manipulator Phantom Desktop,the control host and the slave manipulator universal robot arm WAM^TM)was used to establish a master-slave teleoperation experimental platform based on the UDP communication protocol.;based on the additional feedback force/position compensation strategy proposed in this paper,and the direct force feedback control structure,an induced feedback force/position compensation module was implanted to optimize the control system of minimally invasive surgical robot;The results showed that after compensation,the transparency and tracking of the teleoperation system were good,which proved that the compensation strategy was effective.