The Research On Remote Manipulation Technology Of Oral Throat Surgical Robot

With the development of robotics and medical technology,robots have been widely used in surgery,and some surgical systems have appeared,such as the Da Vinci system,ZEUS robot system,etc.These surgical systems are not specifically designed for laryngeal surgery and are not suitable for laryngeal surgery.Laryngeal surgical robots are mainly divided into two categories: non-oral and oral.Non-oral oral laryngeal surgery robot systems need to cut a wound in vitro to reach the larynx for surgery,which has certain damage to normal tissues and organs and increases the risk of infection.The oral larynx surgical robot system is operated by the surgical robot equipped with surgical instruments to reach the larynx directly through the mouth,which avoids additional injury to the patient and reduce the risk of infection.Foreign research on oral laryngeal surgery robot system has made some progress,and some mature products(such as The Flex system developed by Medrobotics)have appeared,but the technology and products have certain technical barriers to the domestic and the research about oral laryngeal surgery robot in our country has just started.So,the key technologies of remote operating system for oral laryngeal surgery robots is studied in this paper to provide technical guarantee for the development of oral and laryngeal surgery robot systems.This system can realize remote control,force feedback of the laryngeal surgery robot and so on.Besides,a virtual operating system is also embedded,which can simulate the operating environment and operation,and help the operator to perform training or preoperative simulation.So,related multi-type robotic remote control system technology is researched.Firstly,the requirements of oral laryngeal surgery are analyzed,and the overall structure of the system is analyzed and designed.The combination of articulated robot and flexible robot can be used for convenient and quick position adjustment and feeding,and can also enter the throat for operation.The structure of the slave hands are designed,including the selection of the joints hand and the design of the flexible hand,based on the physiological space of the larynx and the basic operation of the surgery.Then,the kinematics models are established by carrying out kinematics analysis.Besides,the working space analysis and kinematics simulation are performed for the flexible hand.Secondly,the control structure requirements of the system were formulated and the control system structure was designed according to the requirements of laryngeal surgery.The position-force integrated bilateral control structure is used as the control framework of the system,which can not only ensure the accuracy of the operation but also Transparency of the system.Then,the system position control strategy and force feedback control strategy of multi-type slaves are studied.The joint slave uses incremental variable ratio control strategies,and the flexible slave uses incremental variable proportional sectional control strategy.The force feedback strategy of the system is position error force feedback strategy,which can not only improve the safety of the system but also reduce the master-slave tracking error.Finally,the system experiment platform is built,including the virtual surgery system and the physical principle prototype.Then,a series of experiments of is designed and carried out;including the virtual system experiment,the master-slave control performance experiment,force feedback simulation experiment,human throat model experiment.The experimental results show that the system has high accuracy and safety,which can achieve the expected results and meet the needs of laryngeal surgery.