Precise Operation And Dynamic Analysis Of Minimally Invasive Surgical Robot With Force Telepresence

The minimally invasive robotic robots with force telepresence have become a hot topic in the field of robotics and are of great value in the future medical field and have a wide range of application prospects.Precise position control and true force perception are two extremely important aspects of teleoperation for minimally invasive surgical robots,which directly affect whether the doctor can really feel the interaction force between the surgical instrument and the patient's tissue,which can feedback the operating force to the main hand better and safer,and achieve precise force control behavior.At present,the main problem of the minimally invasive surgery robot system is the lack of sense of force telepresence and the existence of the additional force of the main hand.This makes it impossible for doctors to perceive force feedback information and lead to inaccurate teleoperation of location,so as to reduce the quality of minimally invasive surgery,prone to surgical errors and cause accidental injury.In order to solve the above problems,this paper designs a new type of force feedback master and optimizes its mechanical structure in detail and systematically.Besides,this paper compensates for the additional force of the main hand to improve the operating accuracy and eliminate the impact of the additional force of the main hand on the perception of the doctor's feedback force to further improve the quality and safety of minimally invasive surgery.The main research work of this paper is as follows:First of all,a new type of force feedback master hand is designed.Based on the improved sleeve force,the flexible cable body is modeled and simulated for the wire rope transmission.The better transmission mode and transmission speed are obtained,and the specific data of the transmission process are obtained,providing the data foundation for the control strategy.At the same time,we use the Adams secondary development macro command phrase in the modeling process to provide a convenient and accurate method for wire rope modeling,which provides a platform for the future research of wire rope.Secondly,the positive and negative kinematics of the master hand are established,and the optimal solution are obtained by using the system screening conditions in the inverse kinematics solving process,which is convenient for the control of the master hand.Based on ergonomics,singularities,operability and dexterity theory and other related parameters,the size of the main hand is optimizedto achieve the expected goal,and to get the theoretical working space and the actual working space.Thirdly,based on the Lagrange equation,a new force feedback main hand dynamics model is derived.The establishment of accurate force feedback master manipulator dynamic model is the important premise for realizing the precise force feedback of the main hand,and also the important basis for the operator to perceive the true feedback force information.So in the use of Lagrange's derivation of dynamic modeling,the model is introduced into Adams to verify the model,and guarantee the accuracy of the model,which lays the foundation for the additional force compensation of the main hand based on the dynamic model.A complete dynamic model considering the gravity and inertial force of connecting rod of a main hand with a force feedback is established.Finally,based on the dynamics model of force feedback master,an additional force compensation strategy is studied.In minimally invasive surgery,it is extremely important for the doctor to obtain the real sense of force and the force feedback information during the operation.Therefore,the gravity compensation model and the inertia force compensation model of force feedback master hand are established.The force compensation control strategy is used to eliminate the interference caused by the gravity and inertia force of the force feedback master itself on the feedback force,so that the feedback force information is transmitted to the doctor without interference,so as to realize the doctor's real force perception during minimally invasive surgery.