Design Of The Tactile Force Feedback System For Eye Surgery Simulator

In order to improve the level of human health,the researchers applied robotics,control science and other fields of research results to medical equipment,and medical robots was born.It become the research focus nowadays,and is one of the fastest growing high-tech industry in the world.Because of the particularity of eye surgery,the robot that has been applied to this kind of scene has a distinct characteristic,which is an important type of medical robot.The survey shows that the prevalence of ophthalmology in China is increasing year by year,and the number of ophthalmologists with professional quality is not enough.The operation of eye surgery is extremely delicate.Traditional ophthalmological operation training mode is long and costly.It can't meet the requirements of modernization.It is imperative to develop new training tools.The traditional configuration of the force feedback controller can not meet the needs of eye surgery training in the work space and positioning accuracy.Combined with virtual reality technology and traditional medical robot technology,we could research an eye surgery simulator with force feedback.It will speed up and standardize the training process of eye surgery,to cultivate a large number of skilled eye surgeons,and meet patients requirements.The research object of this paper is the tactile feedback system of the ophthalmic surgery simulator.The main research work is as follows.(1)Combined with previous research and previous researchers' work,it is concluded that the design requirements of the eye surgery simulation training,This paper put forward and designed a kind of parallel structure with the new characteristics and the force feedback controller.The new structure has both the high rigidity of the parallel structure and the high positioning accuracy,which can meet the demand in the work space and dexterity.With the new structure,the force feedback controller has a symmetrical layout,which improves the complexity of other configurations and the higher difficulty of realizing the feedback.In the selection of key parts and the design of the structure,several optimization has been carried out.In the training of man-machine coordination,it also made the optimization design.(2)According to the overall configuration of the established mechanism,the kinematic characteristics of the handle mechanism are analyzed and the key structural parameters are determined.Through kinematics analysis,the kinematics inverse solution of the institution is obtained,and the rationality of the new structure is proved.The geometrical parameters of the structure are optimized according to the target performance parameters.According to the final determination of the joint parameters and the range of joint variables,the D-H parameter table of the body was obtained.(3)The dynamic characteristics of the handle structure were analyzed.The dynamic model of the handle structure was established by Lagrangian method and the Lagrange equation of the handle was obtained.Using Matlab to calculate the trajectory of the end reference point and comparing its results with ADAMS simulation analysis,the correctness of the kinematics equation is proved.The dynamic simulation of ADAMS is obtained,and the torque curve of each joint is obtained.(4)After constructing the theoretical structure model of the force feedback handle,the prototype model of the force feedback handle was established by SolidWorks in accordance with the requirements of actual processing and manufacturing.We have purchased all kinds of spare parts,completed the design of the prototype,the parts design and processing,assembly work of the the main structure.The experiment of verification experiment and design verification of the mechanism work space was carried out on the assembled prototype.The prototype experiment proves that the structure design is reasonable and the performance parameter meets the expectation.