Research On Mechatronic System Design And Motion Control Of A Surgical Robot Via Different Approaches For Thyroid Tumor Surgery

In recent years,with the rapid development of surgical technology,modern minimally invasive surgery has brought great changes to traditional surgery.As a widely used technique,minimally invasive surgery has many advantages,such as reducing patient trauma and shortening patient recovery time.However,due to its reverse leverage effect and difficult operation,it needs to be solved urgently.The combination of robotics and minimally invasive surgical techniques can better leverage the advantages of traditional minimally invasive surgery.This paper focuses on the clinical needs of minimally invasive surgery for thyroid tumor resection,and designs a robotic system for thyroid minimally invasive surgery with bilateral areola approach and other approaches.The specific content of the thesis includes four aspects.Firstly,the analysis of the clinical surgical procedure of the surgical robot is carried out,and the configuration design of the thyroid surgery robot is clarified.On the basis of the configuration design,according to the requirements of minimally invasive surgery,the overall design of the surgical robot,the design of the surgical manipulator and the design of the driving system of the surgical manipulator are carried out.Secondly,the kinematic modeling of the surgical manipulator is given by using the D-H parameter method.The analysis and optimization of the working space of the surgical manipulator is carried out.Based on the sequential quadratic programming algorithm,the inverse kinematics solution of the surgical robot is completed.In order to eliminate the coupling effect between the joints of the surgical manipulator,a singlejoint wire drive model is established,and a multi-joint drive decoupling algorithm is derived.In order to further improve the control precision of the surgical robot,a backlash compensation algorithm is derived.Then,the master-slave control system of the surgical robot is built,including the upper computer software and the lower controller software,and the master-slave heterogeneous teleoperation control of the surgical robot is realized.Finally,the system prototype is integrated.The simulation test of the bilateral areola approach,the master-slave control simulation test based on virtual reality technology,the replacement test of the surgical manipulator body during operation,and the configuration verification test of the surgical manipulator are carried out,which proved that the design of the surgical manipulator arm is reasonable and meet the design requirements.The backlash compensation comparison test is carried out to verify the correctness of the backlash compensation algorithm.The joint decoupling algorithm and end repeat position accuracy are tested.Experiments show that the coupling effect between joints is reduced,and the repeat position accuracy of the surgical manipulator is high.Finally,the research on the master-slave motion control of the thyroid surgery robot is carried out,and the master-slave trajectory test and the okra seed peeling test are carried out respectively to verify the consistency and stability of the surgical robot system in the master-slave control.