Research On Master-Slave Control Of Minimally Invasive Surgical Robot With Force Feedback

Surgical robots as an important surgical assistive tools get more and more applications in the surgical operation for surgeon.For different surgical environment,the different structure of the surgical robot system is developed to assist the surgeon for surgical operation,it has become the hotspot of the current research.Surgical robots have the advantage of enough freedom of degree,wide range of work and high precision operation,which can help surgeons perform more complex and sophisticated surgical operation.Minimally invasive surgical robot can help doctors solve the problem about limited operation space,doctors fatigue,hand shake and other issues,the doctor also can carry out remote operation.Therefore,the research of minimally invasive surgery is imperative.In this paper,we have carried out the study of surgical robots on the basis of the developed minimally invasive surgical robotic equipment.The main contents of this study are as follows:1.According to the characteristics of the master-slave surgical robot developed by our research group,the first problem of the research is the positive and negative kinematics of the master-slave kinematics.In the inverse kinematics of the slave robot,an inverse kinematics algorithm for pose separation is proposed,which has the advantages of small computation and fast movement2、The characteristics of the master and slave is heterogeneity,the movement mapping relationship between the master and slave of the system is established,which ensures the consistency of the movement of the master and slave robot,it can improves the immersion feeling for the doctor in the operation.In order to make the master robot accurately perform the doctor’s action and the slave robot can follow the appropriate movement,coarse and precision control is adopt for adjust the way of master robot to improve the accuracy of the movement of the slave robot.Due to the complexity and multiple deformations of the surgical environment,the master-slave proportional control is designed,apply to the operation with different precision requirements.3、The slave robot as a surgical execution unit,achieve a smooth and reliablemovement is the key to complete the operation.Therefore,it is necessary to conduct a separate study of the movement control for the slave robot.In this paper,the PID control,fuzzy control,sliding mode control and fuzzy sliding mode control are used in the motion control of the robot.The simulation and experimental results show that the fuzzy sliding mode control can realize the stable movement of the motor and improve the precision of the operation,which is more suitable for the control of slave robot.4、In the realization of the force feedback function,a method of installing a force sensor at the end of the actuator of the robot is used.The sensor is designed by the laboratory.A force control algorithm is proposed to fulfill the position control and force feedback control respectively,and the force feedback function of the master robot is realized while realizing the position control.This control ensure that the master robot really feel the force between the slave and the organization.5 、 In the minimally invasive auxiliary surgery robot,an assisting robot for mandible plastic surgery with the function of force feedback is developed by our research group.A force sensor is installed in the actuator of the robot.Therefore,the robot have the characteristic of detect the force when drilling,an automatic drilling control strategy combining force feedback rule and thickness rule is proposed in this paper for drilling.This control strategy can use the drilling force information and location information to assist the doctor to achieve automatic drilling in the mandibular surgery.At the same time under the conditions of the augmented reality of navigation.In the surgical site,the blood vessels and nerves and other organizations presented in front of the doctor to help doctors avoid injure these important parts.In the analysis of the results,the location accuracy of the equipment perforation and manual punching was analyzed,the data show that the drilling of the device has higher accuracy and can improve the accuracy and safety of the operation.