Research On Master-slave Teleoperation Puncture System Based On Force Feedbac

In the field of minimally invasive surgery,medical robotics has always been a hot research topic.In this paper,targeted puncture surgery is taken as the research object,and a complete master-slave remote operation puncture system is constructed to solve the problem that the operator lacks force feedback information during the operation,so that the operator can perceive precise feedback puncture force.The main research contents are as follows:Firstly,a complete master-slave teleoperation puncture system based on force feedback is designed from hardware and software dimensions.For the master-slave devices,the improved D-H method was used to carry out kinematic modeling,the monte Carlo method was used to analyze the workspace,and then the master-slave space mapping relationship of the system was designed.In the control system,the performance evaluation index of teleoperation system is given,and the position-force hybrid bilateral control strategy is selected according to this index.Secondly,in order to further improve the transparency of teleoperated puncture system,the interaction mechanism between puncture needle and soft tissue was explored,and the puncture process was divided into four stages: Preparation phase,deformation stage,needle puncture stage and back stage,through analyzing the stress of the puncture needle at various stages,the establishment of a complete puncture force model,and then analyzes the cause of additional force feedback,and based on the dynamic model of main hand additional force feedback compensation strategy,make the operator can sense more real piercing force feedback information.Finally,verification and analysis are carried out on the established experimental platform.The effectiveness of the control strategy and additional force feedback compensation strategy is proved by master-slave consistency following experiment and additional force feedback compensation experiment respectively.In order to further explore the feasibility of the system in puncture surgery,the human tissue like PVA hydrogel was prepared and soft tissue puncture simulation experiment was carried out.The results showed that the puncture feedback force information obtained by the operator was accurate.