| Minimally invasive surgery has the advantages of no laparotomy,small trauma,little pain and quick recovery,so it has been widely used worldwide.Traditional minimally invasive surgery has limited its application and development due to its inevitable defects:the "leverage"effect of surgical instruments at the incision makes the hand-eye coordination of the doctor’s operation poor;the doctor’s long-term operation of the surgical instrument is easy.Fatigue;the doctor’s hand tremor is magnified at the end of the surgical instrument,and it is impossible to perform surgical operations such as fine separation and suturing.Today,with the combination of robotics and minimally invasive surgical techniques,the surgical environment has been improved and the quality of surgery has improved.Therefore,in view of the shortcomings of traditional minimally invasive abdominal surgery,this paper will have important significance in the research of key technologies of single-hole laparoscopic surgery robot system.The details are as follows:Firstly,the control flow of the master-slave single-hole laparoscopic surgical robot system designed in this paper is described,and the four core modules in the whole system are extracted:the main operator,the slave operator,the computer control system and the endoscopic image feedback system.For the slave operator,the auxiliary positioning bracket and the end actuator are mainly composed of seven degrees of freedom,and the posture of the end actuator can be flexibly adjusted.The end effect mechanism is composed of two clamping robot arms and a set of mirror-bearing robot arms to coordinate the completion of the operation;the characteristics of the selected master-slave control method are introduced,and the construction of the control system platform and the realization of obstacle avoidance are introduced.the way.Secondly,for the clamping mechanism from the end of the operator’s actuator,the overall structure research is carried out to determine the basic component modules included in the design:motor input module,mechanical decoupling module,power conversion module and end execution module.The clamping arm consists of six degrees of freedom and is mounted on the telescopic mechanism for omnidirectional motion.By analyzing the causes of the coupling,a pure mechanical decoupling mechanism with multiple sets of differential gear trains is designed.The working principle is described in detail,and the decoupling mechanism is verified and verified.The wire and motor are calculated and selected,and the wire pull-off test is carried out to verify that it meets the required requirements;the main bearing member is statically tested.Analyze to ensure that its components are safe and reliable.After that,the establishment and analysis of the transporting force model of the clamping manipulator is carried out.The standard kinematics is established by the standard DH method,and the working space is analyzed.The inverse kinematics analysis is carried out by the analytical method to obtain the clamping arm speed.The relationship between the Jacobian matrix and the dynamic Lagrangian equation lays the foundation for later motion control.Finally,MATMS was used to simulate the kinematics,and the basic movements of the clamping arm after the surgical arm was inserted into the lesion were simulated,including the opening and closing action of the end surgical clip,the movement toward the surgical site,the movement away from the surgical site,and the wound suture.The movement,return to the initial position,to verify the stability of the clamping arm operation,and whether the structural design meets the required surgical requirements. |
