| Compared with manual manipulation of traditional surgical tools,MIS(minimally invasive surgical)laparoscopic robots can realize intuitive operations with enhanced dexterity,while avoiding the risks associated with hand tremor.In recent years,MIS laparoscopic robots attract a lot of attentions due to a large market demand.A majority of the existing minimally invasive surgical robotic systems followed a similar approach by equipping a stick-like surgical tool at the end of manipulator.The manipulator is required to realize a RCM(Remote Center of Motion)movement to prevent the tool from tearing a patient’s abdominal wall.On the other hand,the continuum mechanism has the potential to perform intra-abdominal movements without involving RCM movement.This thesis describes the design optimization and control implementation of such a surgical continuum manipulator.A dual continuum mechanism is utilized in the surgical tool design to enhance its dexterity and payload capability.The drive unit and the surgical tool of the manipulator are designed to meet the clinical requirements,that the surgical tool can be exchanged during an operation and sterilized after the operation.For such a continuum manipulator,the forward kinematics has analytical expressions,while there do not exist analytical solutions for the inverse kinematics problem.This thesis hence proposes a new iterative inverse kinematics approach and verified its effectiveness and efficiency.Several simulation cases studies show that this method is applicable to continuum robots with different other topologies.Aiming at facilitating the matching problem caused by the insufficient force feedback of the master device,this paper adopts an incremental masterslave mapping method to ensure intuitive teleoperation while maintaining the security of system.The system was tele-operated to perform a few typical surgical task,including peg transfer,tissue peeling,suturing and knot tying to verify its functionality. |
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