Design Of Master-slave Control Of Single-hole Laparoscopic Robot And Its Anti-shake Filtering

In recent years,the rapid development of minimally invasive surgery has been recognized by the medical field.It has the advantages of small trauma area,high efficiency,easy repair and no pain.However,the traditional minimally invasive surgery has a lot of drawbacks,such as the difficulty of operation and the limitations,which cannot make it developed fully.Minimally invasive surgical operations can easily cause visual fatigue for doctors,which can result in misoperation.The rigid structure design of the manipulator arm end has obvious delay in closing and opening,which is easy to interfere with other operations.Therefore,the design of a single-hole laparoscopic robot system will be of great significance.The thesis mainly designs the single-hole endoscopic surgical robot system with master-slave structure,which mainly includes the kinematics analysis of the master-slave manipulator,the design of the master-slave control system and the test of filtering anti-shake algorithm.The design of the manipulator is divided into two parts,including a 4-DOF fixed auxiliary structure and a 6-DOF end execution structure,which can flexibly adjust the posture transformation of the actuator.The communication protocol adopts the EtherCAT communication method,and uses the combination of FPGA and ARM system to realize the coordination of master and slave operations.The improved D-H method is used to establish the kinematics of the clamping manipulator.The cloud analysis of the working range of the working space is carried out to ensure safe operation in the narrow abdominal cavity environment,and realize the cutting,stitching and assistance of the end clamping structure.Through the inverse kinematics analysis of the manipulator arm,the optimal transformation attitude angle of the passive joint is determined.The inverse motion simulation and the path planning of straight line and curve in the Cartesian space were realized in MATLAB.The thesis designs the master-slave control system of the surgical robot,and establishes a suitable master-slave mapping by analyzing the motion of the master-slave manipulator.The secondary mapping method is used to realize three-dimensional mapping between the master-slave operator and the endoscope.The master-slave coordination is enhanced by adjusting the proportional increment,and the master-slave operator coincidence results are obtained through simulation experiments.The average filtering method,the least square method and the Fourier fitting algorithm were used to compare the main operator jitter,and the effectiveness of the Fourier fitting algorithm on real-time jitter signals was verified.